Identification of Flexibility Parameters of 6-axis Industrial Manipulator Models

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Publication date
1 January 2006
Publisher
'Linkoping University Electronic Press'

Abstract

A method for identification of flexibility parameters of a 18 DOF (degrees offreedom) robot prototype model is proposed. Experiments show the strengthof the method and the results indicates that flexibilities in the bearings and thearms, taken together, are of the same order as the flexibilities in the gears

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