A method of obtaining the gear stiffness of a robot joint gear of a robot joint of a robot arm, where the robot joint is connectable to at least another robot joint. The robot joint comprises a joint motor having a motor axle configured to rotate an output axle via the robot joint gear. The method comprises the steps of: —applying a motor torque to the motor axle using the joint motor; —obtaining the angular position of the motor axle; —obtaining the angular position of the output axle; —determining the gear stiffness based on at least the angular position of the motor axle, the angular position of the output axle and a dynamic model of the robot arm.

Disclosed is an apparatus and a method for producing a continuously transposed cable (CTC) by using a plurality of motors and a plurality of linear servo actuators instead of conventional apparatus and method for mechanically producing the continuously transposed cable by using a cam in the step of driving a continuously transposing head, which is the core of the manufacturing process of the continuously transposed cable. The apparatus comprises a continuously transposing head including at least four transposing devices; a control part being connected to the individual transposing devices in the continuously transposing head with wired or wireless connections; and a display input part for enabling a user to access and control it, the display input part being connected to the control part with wired or wireless connections, whereby the user can control the operation of the apparatus through the display input part, and continuously the control part can respectively control the individual transposing devices in the continuously transposing head in order to produce the continuously transposed cable.

There is described a method and system for reshaping a component for assembly that may have been deformed pre-assembly and post-fabrication. As-fabricated measurements are used to determine a baseline for the component and as-mounted measurements are used to determine a deformation parameter as a function of the baseline. The component may be reshaped using correction displacements applied to a positioning device of an assembly tool to which the component is mounted for assembly.

Disclosed is an apparatus and a method for producing a continuously transposed cable (CTC) by using a plurality of motors and a plurality of linear servo actuators instead of conventional apparatus and method for mechanically producing the continuously transposed cable by using a cam in the step of driving a continuously transposing head, which is the core of the manufacturing process of the continuously transposed cable. The apparatus comprises a continuously transposing head including at least four transposing devices; a control part being connected to the individual transposing devices in the continuously transposing head with wired or wireless connections; and a display input part for enabling a user to access and control it, the display input part being connected to the control part with wired or wireless connections, whereby the user can control the operation of the apparatus through the display input part, and continuously the control part can respectively control the individual transposing devices in the continuously transposing head in order to produce the continuously transposed cable.

There is described a method and system for reshaping a component for assembly that may have been deformed pre-assembly and post-fabrication. As-fabricated measurements are used to determine a baseline for the component and as-mounted measurements are used to determine a deformation parameter as a function of the baseline. The component may be reshaped using correction displacements applied to a positioning device of an assembly tool to which the component is mounted for assembly.