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Then, a novel optimization method has been developed, which incorporates the Gramian matrix formulation along a non-linear optimization process, acting as an intrinsic constraint for the conservativeness of the elastostatic modeling. Numerical and experimental analyses evince the effectiveness of the proposed method, as the elastostatic models obtained by means of the proposed technique predict more than 93.7% of the compliance deviations of a real industrial robot. The proposed method is simple enough to be jointly applicable to the most recent elastostatic model reduction techniques.<\/jats:p>","DOI":"10.1017\/s0263574721001831","type":"journal-article","created":{"date-parts":[[2021,12,23]],"date-time":"2021-12-23T02:59:03Z","timestamp":1640228343000},"page":"2592-2609","source":"Crossref","is-referenced-by-count":1,"title":["Gramian-constrained optimization process for the stiffness model identification of industrial manipulators"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7470-4188","authenticated-orcid":false,"given":"W. R.","family":"Oliveira","sequence":"first","affiliation":[]},{"given":"L. G.","family":"Trabasso","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,12,23]]},"reference":[{"key":"S0263574721001831_ref1","doi-asserted-by":"publisher","DOI":"10.1590\/S0103-17592010000600009"},{"key":"S0263574721001831_ref5","unstructured":"[5] Posada, J. 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