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This chapter gives a general introduction to the stiffness modelling of robotic manipulators and provides a brief review of the principal methods used in the literature. It also focuses on the problem of compliance error compensation for robotic manipulators employed in technological processes and introduces different online and offline strategies currently used in the industry.

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Introduction to Stiffness Modelling of Robotic Manipulators

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  • 发表日期：

    2025年

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  • Alexandr Klimchik,
  • Anatol Pashkevich,
  • Damien Chablat

摘要

This chapter gives a general introduction to the stiffness modelling of robotic manipulators and provides a brief review of the principal methods used in the literature. It also focuses on the problem of compliance error compensation for robotic manipulators employed in technological processes and introduces different online and offline strategies currently used in the industry.