CWA 17384:2019

This CEN Workshop Agreement (CWA) intends to define one good practice elastostatic compliance calibration for articulated industrial robots using an enhanced stiffness formulation for the robot model, a pragmatic measurement approach inspired by the application and an identification of the model parameters based on position data.
The CWA compliance for industrial robots describes how it can be specified, recommends how it should be tested and outlines the potential usage of the information for industry applications. This document is intended to be used by customers, developers, manufacturers and researchers of industrial robotic systems.