Joint axes dynamic characteristics determination of a robot

Presents an idea for determining the joint axes dynamic characteristics of an industrial robot. The joint axes compliance are modeled as an equivalent spring in parallel with an equivalent damper. The links of robotic system are assumed to be rigid in this study. The actuating torque of each joint axis motor is considered as the input, while the acceleration responses of the link are the output corresponding to that input. Based on experimental data, one can estimate the equivalent spring and damper parameters of each joint axis one by one from their transfer functions. Then the coefficients of the characteristic equations of joint axes transfer functions can be used to derive the equivalent physical parameters of this robotic system. This idea of measuring the joint axis characteristics for each robot degree of freedom can be used in not only open chain type but also closed chain type robotic mechanisms.<>