@inproceedings{d556c2451cda46a5ab813af9b8c5da4e,
title = "Experimental Study on the Effect of Singularity on the Stiffness Modelling of Industrial Robots",
abstract = "Robot stiffness modelling is essential in robot control. An accurate stiffness model can effectively improve the positioning accuracy of the robot and significantly enhance the robot's performance in various works. Three critical experimental data are important to establish a robot stiffness model: the deformation of end effector, external load, and robot pose. Normally, the robot poses with singularity are considered to be avoided for stiffness modelling. However, it is unclear whether the robot pose close to the singularity has an effect on the modelling accuracy. This paper investigated the influence of the robot poses on the stiffness modelling. Condition number was adopted to describe the degrees of singularity. A series of poses were designed according to the distribution of the condition number. Experiments were designed to exert different loads on the robot to collect the deformations and loading forces. Virtual joint modelling (VJM) approach was used to establish the stiffness model with the experimental data. The influence of the condition number on the modelling accuracy was discussed. The results indicated that the stiffness model has a significant relative error at the position with high singularity. Condition number can be used as a reference index for the design of stiffness modelling. And the range of this reference index was given for the experimental robot in this study.",
keywords = "condition number, industrial robot, singularity, stiffness modelling",
author = "Dehua Gao and Kai Wu and Jiaquan Li and Junpei Zhong and Huan Zhao",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 9th International Conference on Mechatronics and Robotics Engineering, ICMRE 2023 ; Conference date: 10-02-2023 Through 12-02-2023",
year = "2023",
month = apr,
day = "26",
doi = "10.1109/ICMRE56789.2023.10106517",
language = "English",
series = "2023 9th International Conference on Mechatronics and Robotics Engineering, ICMRE 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "46--51",
editor = "Yongsheng Ma",
booktitle = "2023 9th International Conference on Mechatronics and Robotics Engineering, ICMRE 2023",
}