English to Italian Tech/Engineering Automation & Robotics Manipulators

the constraining device comprises a ball-bar mechanism. The length of the
bar can then be configured such that a sufficient part of the work space is reached for all geometric parameters to be
identified accurately. The ball joints, one at each end of the bar, can be built such that also the wrist can reorient sufficiently
for all wrist parameters to be accurately identified. While the ball-joints are passive, they may include sensing to avoid
modelling inaccuracies to deteriorate the accuracy of the identified parameters. Biased on insight related to the load of
a low-friction ball-bar implementation being strictly along the direction of the bar, one may use the ball-bar mechanism
also for obtaining the stiffness parameters