@inproceedings{3ba9631c5e314be9b0468092bb9fa1a8,
title = "Compliance Modeling and Error Compensation of a 3-Parallelogram Lightweight Robotic Arm",
abstract = "This paper presents compliance modeling and error compensation for lightweight robotic arms built with parallelogram linkages, i.e., Π joints. The Cartesian stiffness matrix is derived using the virtual joint method. Based on the developed stiffness model, a method to compensate the compliance error is introduced, being illustrated with a 3-parallelogram robot in the application of pick-and-place operation. The results show that this compensation method can effectively improve the operation accuracy.",
keywords = "Parallelogram robot, Lightweight robotic arm, Error compensation, Stiffness",
author = "Guanglei Wu and Sheng Guo and Shaoping Bai",
year = "2015",
doi = "10.1007/978-3-319-18126-4_31",
language = "English",
isbn = "978-3-319-18125-7",
series = "Mechanisms and Machine Science",
publisher = "Springer",
pages = "325--336",
editor = "Shaoping Bai and Marco Ceccarelli",
booktitle = "Recent Advances in Mechanism Design for Robotics",
address = "Germany",
note = "3rd IFToMM Symposium on Mechanism Design for Robotics, MEDER 2015 ; Conference date: 02-06-2015 Through 04-06-2015",
}