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dc.rights.licenseAttribution 4.0 International*
dc.contributor.authorAguirre Jaca, Nora
dc.contributor.authorLarrañaga Amilibia, Jon
dc.contributor.otherGonzalez, Monica Katherine
dc.contributor.otherTheissen, Nikolas
dc.contributor.otherHacala, Patxi
dc.contributor.otherArchenti, Andreas
dc.date.accessioned2023-01-26T15:30:35Z
dc.date.available2023-01-26T15:30:35Z
dc.date.issued2023
dc.identifier.issn1433-3015en
dc.identifier.otherhttps://katalogoa.mondragon.edu/janium-bin/janium_login_opac.pl?find&ficha_no=171195en
dc.identifier.urihttps://hdl.handle.net/20.500.11984/5967
dc.description.abstractThis article presents the measurement and analysis of the influence of velocity on the quasi-static deflections of industrial manipulators of three different manufacturers. Quasi-static deflection refers to the deflection of the end effector position of articulated robots during movement at low velocity along a predefined trajectory. Based on earlier reported observations by the authors, there exists a difference in the static and quasi-static deflections considering the same points along a trajectory. This work investigates this difference to assess the applicability of robotic compliance calibration at low velocities. For this assessment, the deflections of three industrial articulated robots were measured at different speeds and loads. Considering the similarity among the robot models used in this investigation, this work also elaborates on the potential influence of the measurement procedure on the measured deflections and its implications for the compliance calibration of articulated robots. For all industrial articulated robots in this investigation, the quasi-static deflections are significantly larger than the static ones but similar in trend. Additionally, the magnitude of the quasi-static deflections presents a proportional relationship to the Cartesian velocity.en
dc.language.isoengen
dc.publisherSpringeren
dc.rights© 2023 The Authorsen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectIndustrial roboten
dc.subjectContact applicationsen
dc.subjectQuasi-staticsen
dc.subjectComplianceen
dc.titleInfluence of the velocity on quasi-static deflections of industrial articulated robotsen
dcterms.accessRightshttp://purl.org/coar/access_right/c_abf2en
dcterms.sourceInternational Journal of Advanced Manufacturing Technologyen
local.contributor.groupDiseño y mecánica estructurales
local.description.peerreviewedtrueen
local.identifier.doihttps://doi.org/10.1007/s00170-022-10661-xen
local.contributor.otherinstitutionhttps://ror.org/026vcq606en
local.contributor.otherinstitutionMMAEN, S.L.es
local.contributor.otherinstitutionhttps://ror.org/003qafx79es
local.contributor.otherinstitutionhttps://ror.org/008kvxw43eu
local.source.details2023en
oaire.format.mimetypeapplication/pdf
oaire.file$DSPACE\assetstore
oaire.resourceTypehttp://purl.org/coar/resource_type/c_6501en
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85en


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Attribution 4.0 International
Except where otherwise noted, this item's license is described as Attribution 4.0 International