Parametric identification for industrial manipulators using experimental modal analysis

Author

Behi, Fariborz ; Tesar, Delbert

Author_Institution

AT&T Bell Lab., Holmdel, NJ, USA

Volume

7

Issue

5

fYear

1991

fDate

10/1/1991 12:00:00 AM

Firstpage

642

Lastpage

652

Abstract

Establishing the complete dynamic model of a manipulator arm requires precise knowledge of the system mass and stiffness properties. An experimental procedure based on the modal analysis concept to identify the dynamic parameters of industrial manipulator arms is presented. The mass and stiffness content of an industrial robot are extracted from the modal behavior of the arm utilizing a general mathematical model for serial manipulators. The validity of the parameters is verified by comparison of the measured vibration behavior of the arm with the behavior of the proposed model. Some suggestions to improve the performance and operating speed of the robot by increasing the structural integrity of the system are presented

Keywords

control system analysis; dynamics; identification; industrial robots; vibrations; dynamic parameters; industrial manipulators; industrial robot; modal analysis; parametric identification; stiffness; structural integrity; system mass; vibration; Acceleration; Arm; Control system synthesis; Damping; Defense industry; Friction; Manipulator dynamics; Modal analysis; Robot sensing systems; Vibration measurement;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.97876

Filename

97876