Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-Dof High-Accelerated Over-Constrained Mechanism

Abstract

If the positioning accuracy of the end-effector of a robot has high priority, compliance characteristics of the elements of its mechanism should be considered. Due to the external loading on the robot, the dimensions of the elements change and this leads to positioning errors for the end-effector. In this paper, an experimental test setup and an experimental procedure are described to derive the compliance characteristics of a planar 2-degree-of-freedom mechanism.