In line with the activities on the third task of the ForNextCobot project, the video illustrates the application of the algorithm for shaping the Cartesian stiffness (stiffness in the Cartesian coordinate system) of the robot finite device.

Stiffness is formed using the kinematic redundancy of the robot on the example of the “Peg in hole” task. When performing the “Peg in hole” task in the phases of inserting and removing the wedge from the slot on the mold, it is necessary to ensure that the robot is stiffer in the direction of movement, and soft (flexible) in the lateral directions, to reduce the force of interaction (friction) to damage or improperly performed task.

The developed algorithm has two tasks: the first (primary) – to provide monitoring of the given trajectory of the final device; and others (secondary) to use redundancy to shape the stiffness of the end device. The ability to shape stiffness is limited by the degree of redundancy and the configuration of the robot in space. Two scenarios are presented, when the stiffness in the direction is minimized and when it is maximized.