Hello,
The RoboDK software, for calibration of robots, could consider joint stiffness parameters. I wonder how to include these parameters in computation of forward/inverse kinematics?
We have written our own codes for motion planning and control of our robots. For (geometric) calibration of our robots, we use RoboDK, but so far, we have not included the stiffness parameters.
Now for better accuracy, we want to include stiffness as well. I believe the stiffness parameters should be used to modify the DH parameters before computation of FK and IK. However, the change in DH parameters is a function of both stiffness parameters and joint torques. The software reports the stiffness parameters, but I wonder how to calculate the joint torques.
Any guidance on this subject will be appreciated.
Thank you,
Hossein
P.S.
In [Nubiola, Bonev; RCIM 2013], the found stiffness is used to modify the DH parameters (table 4); however, it is required to compute tau_i as well (Eqs. 9 and 10).
The RoboDK software, for calibration of robots, could consider joint stiffness parameters. I wonder how to include these parameters in computation of forward/inverse kinematics?
We have written our own codes for motion planning and control of our robots. For (geometric) calibration of our robots, we use RoboDK, but so far, we have not included the stiffness parameters.
Now for better accuracy, we want to include stiffness as well. I believe the stiffness parameters should be used to modify the DH parameters before computation of FK and IK. However, the change in DH parameters is a function of both stiffness parameters and joint torques. The software reports the stiffness parameters, but I wonder how to calculate the joint torques.
Any guidance on this subject will be appreciated.
Thank you,
Hossein
P.S.
In [Nubiola, Bonev; RCIM 2013], the found stiffness is used to modify the DH parameters (table 4); however, it is required to compute tau_i as well (Eqs. 9 and 10).
