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Definition of "stiffness of a manipulator arm" |
an attribute of a robot arm. Assume that a force is applied to the end effector of a manipulator arm. The end effector will deflect by an amount that depends on the stiffness of the arm and the force applied. In other words, the stiffness of the arm’s end-effector determines the strength of the manipulator arm. Usually, actuator itself has a limited stiffness determined by its feedback control system, which generates the drive torque based on the discrepancy between the reference position and the actual measured position. We model the stiffness by a spring contact that relates the small deformation at the joint to the force or torque transmitted through the joint itself. It is called the joint stiffness. |
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