Joint stiffness identification of machining robots

Abstract In recent years, industrial robots have been widely used in the field of milling processing. Compared to traditional CNC machine tools, the low stiffness of robots has become the disadvantage of restricting the quality of processing. This paper first deduces the traditional static model of industrial robots, and then the relationship between the end external load of the industrial robot and deformation is obtained by loading experiments, and finally, the joint stiffness value is identified using the least squares method.