Compliance modeling and identification of 5-axis vertical articulated robot for machining applications

Abstract

This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental 5-axis machining robot. Analytical analysis was conducted for effects of compliances of each joint individually on Cartesian space robot compliance. Experimentally, the Cartesian space compliance is obtained by direct measurement of the absolute displacements evoked by static forces along 3- orthogonal directions at the tool tip in the robot workspace for the case of 3-axis machining.