"Compliance error compensation of a robot end-effector with joint stiff" by Vu Linh Nguyen, Chin Hsing Kuo et al.
This paper presents an analytical model to compensate for the compliance errors of a Delta parallel robot as the mini robot, which is mounted at the end effector of an articulated robot to form a macro-mini manipulator for milling operations. This model is derived from a passive compliance design with mechanical springs for the robot considering uncertainties in the joint stiffness. The significance of this design is that it allows determining the compliance parameters of the model by analytical formulas. Quantitative criteria, probabilistic error models, and numerical examples with milling-li...
Source: uow.edu.au