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Optimal measurement pose selection for joint stiffness identification of an industrial robot mounted on a rail

The paper focuses on the identification of elastostatic properties of an industrial serial robot mounted on a rail. It proposes an identification procedure in order to find the optimal robot configuration to minimize the impact of measurement errors on the identification accuracy of the stiffness parameters. An experimental setup is designed to perform the identification of all stiffness parameters under industrial conditions. The proposed identification procedure is easy to use and takes little time.