Modeling and Identification of Non-Geometric Parameters in Semi-Flexible Serial Robotic Mechanisms

Abstract

Abstract In order to ensure the rigid body assumption, serial manipulators have generally been overdesigned. This has resulted in large, heavy and bulky robots that can only manipulate loads which are small when compared to their own weight. Therefore, structural flexibilities are studied here in order to maintain static accuracy while reducing the weight of the robots. In this paper, the modeling and identification of serial manipulators with flexible joints and links is addressed. A general model is developed in order to take into account the flexibilities, and an algorithm is proposed for the identification of mechanisms from measured static poses.