Industrial Robotics Trajectory Compensation Model and Joints Torsional Stiffness Impact Analysis

摘要

The behavior of an industrial robot may change under the influence of an external force. These robots are not able to absorb force disturbances, inducing displacements and deformation in their joints. For that reason, an error is generated between the programmed and executed trajectory, decreasing the precision of the operation. This can be associated with the low stiffness of the manipulators. This work presents an industrial robot trajectory compensation model considering joints stiffness and the analysis of the impact on the final trajectory.