A METHOD FOR MODELING ELASTIC ROBOT KINEMATICS IS PRESENTED IN THIS PAPER. THE METHOD USES THE INPUT OF STRAIN GAGES AND JOINT ENCODERS TO DETERMINE THE DEFLECTION OF THE LINKS IN IN-PLANE AND OUT-OF-PLANE DIRECTIONS. TORSIONAL FLEXURES ALSO ARE MEASURED USING STRAIN ROSETTES. THIS INFORMATION DETERMINES THE END EFFECTOR LOCATION WHICH CAN THEN BE USED BY THE ROBOT CONTROLLER TO DAMP THE ROBOT VIBRATIONS.
