Influence of the Transmission Elasticity on the Law of Motion of a Robot Arm

In this paper we refer about the first results of a research, recently started, on the influence of the transmission elasticity on the law of motion of the end effector of an industrial robot.

Aim of this investigation is to asses if by an appropriate choise of the law of motion it is possible to obtain an end effector motion that is precise enough, even if the transmission is not very stiff.

The first results of a number of computer simulation show that the law of motion chosen can affect, aslo significantly, the movement precision of a manipulator arm in which the transmission can no more been considered as « rigid ».