Robots suffer from compliance in joints and links, which limits the possible position accuracy of the end-effector because of gravity, payload and process forces. Such forces are often partly unknown, and the compliances varies with robot individual.
Our patented clamping method can be used to let the robot identify its properties such as the stiffness matrix of the robot, by itself. This is accomplished without the need for external sensors since the internal control signals are utilized. The obtained stiffness parameters can then be used in combination with our elasto-kinematics in order to augment the end-effector accuracy.
This method can be utilized both in free space and in operations requiring physical contact, such as machining or welding.