Measurement and identification of the joint stiffness on a serial articulated industrial robot

This document exemplifies elastostatic compliance calibration on an articulated industrial robot, which has been calibrated at KTH Royal Institute of Technology in 2019 using procedure outlined in the CWA-17384. All data processing is done in Matlab 2018b® using the Peter Corke’s as well as Computer Vision System toolbox for robotics. In case of questions do not hesitate to send an e-mail to theissen@kth.se to obtain data and algorithms in c++ or other formats.