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Improving the Dynamic Accuracy of Elastic Industrial Robot Joint by Algebraic Identification Approach

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Academic year: 2021

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Figure

Fig. 1. St¨aubli RX-170B robot arm
Fig. 4 depicts the measured tracking errors for θ r position and the axis deformation θ ( t ) = (θ l ( t )− θ r ( t ))
Fig. 5. Balancing system (upper) and Gravitational, Balancing and Residual torques (below)
Fig. 8. Joint 2 moment of inertia : experimental data and fitted model
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