In first place, elasticity in the links of robot arms prolongs settling times and deteriorates the positioning accuracy. However, the feasibility of fast and precise end effector positioning for an elastic link arm has been exemplified with ball catching experiments1) Malzahn, Jörn, Anh Son Phung, and Torsten Bertram. “A Multi-Link-Flexible Robot Arm Catching Thrown Balls.” 7th … Read more Elastic Robot Links: Curse or Blessing? (Part 2)
It is a demanding challenge to avoid unwanted structural elasticity during the design of lightweight robot mechanisms. Link elasticity aggravates the precise position control of the robot due to configuration dependent static deflections and prolong settling times because of long lasting oscillations. Apart from robotics we find similar design criteria in e. g. in fire-rescue … Read more Elastic Robot Links: Curse or Blessing?