walid-khaled / stiffness-modelling-of-7dof-kuka-linear-axis Goto Github PK

This repository contains the implementation of the stiffness analysis of 7DOF KUKA linear axis robot. It is implemented using VJM technique to fnd the EE deflection at different points in the workspace. After deflection calculations, deflection scatter plots are built to analyse the maximum deflection due to 100N force along x, y, z directions respectively. The importance of stiffness modelling is to improve the overall accuracy of the robot by calculating the difference between the desired pose and the actual pose of the robot due to the applied load.

This manipulator is kinematically redundant. You can check the redundancy resolution solution in this repo.

First open IK.m file and select the preferable redundancy resolution approach as shown below.

Then run main_VJM.m file for calculations and visualization.