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Compliance Error Compensation based on Reduced Model for Industrial Robots

In the near future industrial manipulators can completely replace bulky and expensive CNC machines. The only issue that stands in a way of this transition is low stiffness of industrial robots. However, a lot of research is going on in this area with the focus on developing an accurate stiffness model of the robot and embedding it into the control scheme. The majority of the stiffness models include stiffness of the links as well as joints even though typically complete link parameters are not provided by the robot manufacturers. Therefore, it is of great importance to understand how accurately a reduced stiffness model which takes into account only joint stiffness can replicate the results of the full model. In this paper, we focus on analyzing the quantitative difference between these two models using Virtual Joint Modeling method and its effect on trajectory tracking. The systematic analysis demonstrates that reduced stiffness model can quite accurately replicate the full one and with reduced model, up to 95 percent of the end-effector deflection can be compensated so that the average deflection error after compensation is about 0.8 tor a typical heavy industrial robot under the loading.