SciELO - Scientific Electronic Library Online

vol.32 issue4Welding of additive manufactured ALSi10mg: using laser welding in a vacuum for high quality weld seams - a new approach to welding LPBF manufactured ALSi10mgThe role of the project management office in knowledge transfer in a matrix-structured organisation: a case study author indexsubject indexarticles search
Home Pagealphabetic serial listing  

Services on Demand



Related links

  • On index processCited by Google
  • On index processSimilars in Google


South African Journal of Industrial Engineering

On-line version ISSN 2224-7890
Print version ISSN 1012-277X


SINGH, A.P.; PADAYACHEE, J.  and  BRIGHT, G.. An experimental approach to improving the joint stiffness of industrial robots through dexterous posture identification. S. Afr. J. Ind. Eng. [online]. 2021, vol.32, n.4, pp.113-128. ISSN 2224-7890.

Improving a robot's posture enables it to perform with greater accuracy and repeatability. A stiffer posture also protects the robot from unnecessary vibrations and deflections that may be induced by an applied load. This paper presents a method for choosing high stiffness robot postures. The method is demonstrated on a six-degree-of-freedom Fanuc M10-iA serial manipulator. The posture identification and stiffness modelling were achieved by a reliable and cost-effective alternative to deflection measurement using IEPE accelerometers.

        · abstract in Afrikaans     · text in English     · English ( pdf )


Creative Commons License All the contents of this journal, except where otherwise noted, is licensed under a Creative Commons Attribution License