PARAMETRIC IDENTIFICATION FOR INDUSTRIAL MANIPULATORS USING EXPERIMENTAL MODAL-ANALYSIS

被引：32

作者：

BEHI, F

TESAR, D

机构：

[1] AT&T BELL LABS,ROBOT RES DEPT,HOLMDEL,NJ 07733

[2] UNIV TEXAS,DEPT MECH ENGN,AUSTIN,TX 78712

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 05期

关键词：

D O I：

10.1109/70.97876

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

To establish the complete dynamic model of a manipulator arm requires precise knowledge of the system mass and stiffness properties. This paper presents an experimental procedure based on the modal analysis concept to identify the dynamic parameters of industrial manipulator arms. The mass and stiffness content of an industrial robot (Cincinnati Milacron T3-776) are extracted from the modal behavior of the arm utilizing a general mathematical model for serial manipulators. The validity of the identified parameters is verified by comparison of the measured vibration behavior of the arm with the behavior of the proposed model. Finally, some suggestions are presented to improve the performance and operating speed of the T3-776 robot by increasing the structural integrity of the system.

引用

页码：642 / 652

页数：11

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