A robot with no load in end-effector may be properly calibrated. When it carries an object of a certain weight moving from one position to another, a significance discrepancy exists between the desired and actual position and orientation of the robot. Considering the importance of this problem, in this study an improved method with the concept of energy method is developed to calculate the static deflection of a three-link flexible arm. After derivation of the displacement equations, the formulation is developed for a dual arm while carrying a rod in its manipulators. Finally, some essential concepts such as rod strain/stress and optimization method are defined that improved the efficiency of robot movement.
Available at: http://works.bepress.com/abdolhossein_khodaivandy/1/