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Authors: A. Jubien 1 ; G. Abba 2 and M. Gautier 3

Affiliations: 1 IRCCyN (Institut de Recherche en Communications et Cybernétique de Nantes) and ONERA (The French Aerospace Lab), France ; 2 Dep. of Design and Manufacturing and Control (LCFC) and ENIM (National College of Engineering of Metz), France ; 3 IRCCyN (Institut de Recherche en Communications et Cybernétique de Nantes), France

Keyword(s): Stiffness, Industrial, Robot, Identification, Clamped End-effector.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mechatronics Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper proposes two new methods for the identification of static stiffnesses of multi degrees of freedom heavy industrial robots. They are based on a locked link joint procedure obtained with an end-effector fixed to the environment. The first method requires only measurements of motor positions and motor torques data computed from motor current measurements and manufacturer's drive gains. The second one needs a torque sensor to measure the interaction wrench between the clamped end-effector and the environment. These methods are being experimentally validated and compared on the 2 first joints of a 6 degrees of freedom heavy 500Kg payload industrial Kuka KR500 robot.

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Paper citation in several formats:
Jubien, A.; Abba, G. and Gautier, M. (2014). Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure. In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 585-591. DOI: 10.5220/0005115805850591

@conference{icinco14,
author={A. Jubien. and G. Abba. and M. Gautier.},
title={Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2014},
pages={585-591},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005115805850591},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure
SN - 978-989-758-040-6
IS - 2184-2809
AU - Jubien, A.
AU - Abba, G.
AU - Gautier, M.
PY - 2014
SP - 585
EP - 591
DO - 10.5220/0005115805850591
PB - SciTePress

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