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Classification structure and compliance modeling for serial manipulators

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3 Author(s)
Hudgens, J. ; Autom. Technol. Div., Appl. Mater. Inc., Santa Clara, CA, USA ; Cox, D. ; Tesar, D.

The objective of the paper is to develop a structural compliance model for a general serial manipulator that includes both joint and link compliance sources in any general distribution of revolute and prismatic joints. A primary feature is that special consideration is given to modeling the variable focal compliance properties of a robot containing one or more prismatic joints. A more reliable method for placing the link compliance frames is also introduced. An improved linear quasi-static compliance model for serial robot structure comprised of both revolute and/or prismatic joint is provided

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000