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 [e-mail] to obtain data and algorithms in c++ or other formats.本示例文档展示了多关节工业机器人（articulated industrial robot）的弹性静力学柔顺校准（elastostatic compliance calibration）工作，该校准于2019年在瑞典皇家理工学院（KTH Royal Institute of Technology）完成，采用了CWA-17384标准中规定的校准流程。所有数据处理均在Matlab 2018b®环境中完成，使用了彼得·科克（Peter Corke）开发的机器人学工具箱以及计算机视觉系统工具箱（Computer Vision System Toolbox for Robotics）。如有任何疑问，可致邮[e-mail]以获取C++格式或其他格式的数据集与算法代码。