Oluf Skov Rosenlund

Model-Based On-line Estimation of Time-Varying Nonlinear Joint Stiffness on an e-Series Universal Robots Manipulator

Flexibility commonly exists in the joints of many industrial robots due to the elasticity of the lightweight strain-wave type transmissions being used. This leads to a dynamic time-varying displacement between the position of the drive actuator and that of the driven link. Furthermore, the joint fle…