{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T00:06:05Z","timestamp":1768694765282,"version":"3.49.0"},"reference-count":38,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,9,11]],"date-time":"2019-09-11T00:00:00Z","timestamp":1568160000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Fondazione Aldo GIni","award":["Call 2018"],"award-info":[{"award-number":["Call 2018"]}]},{"DOI":"10.13039\/501100003500","name":"Universit\u00e0 degli Studi di Padova","doi-asserted-by":"publisher","award":["DII project BIRD187930"],"award-info":[{"award-number":["DII project BIRD187930"]}],"id":[{"id":"10.13039\/501100003500","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of \u201cMozzi axis\u201d of the end-effector is presented and discussed.<\/jats:p>","DOI":"10.3390\/robotics8030080","type":"journal-article","created":{"date-parts":[[2019,9,11]],"date-time":"2019-09-11T11:26:34Z","timestamp":1568201194000},"page":"80","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach"],"prefix":"10.3390","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0896-7796","authenticated-orcid":false,"given":"Alberto","family":"Doria","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9746-4642","authenticated-orcid":false,"given":"Silvio","family":"Cocuzza","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"}]},{"given":"Nicola","family":"Comand","sequence":"additional","affiliation":[{"name":"Department of Management and Engineering, University of Padova, 36100 Vicenza, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6611-173X","authenticated-orcid":false,"given":"Matteo","family":"Bottin","sequence":"additional","affiliation":[{"name":"Department of Management and Engineering, University of Padova, 36100 Vicenza, Italy"}]},{"given":"Aldo","family":"Rossi","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering, University of Padova, 35131 Padova, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2019,9,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1489","DOI":"10.1007\/s00170-012-4433-4","article-title":"Robot machining: Recent development and future research issues","volume":"66","author":"Chen","year":"2013","journal-title":"Int. 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