Comparison of Dynamic Properties of Two KUKA Lightweight Robots

Łukasz Woliński , Marek Wojtyra

Abstract

This paper concerns the comparison of dynamic properties of two LWR 4+ robots. As a preparation to the identification task, a series of joint torque measurements is performed to determine the variability of the dynamic parameters. The torque measurements from two robots are compared with each other and a simplified multibody model. The results are discussed.
Author Łukasz Woliński (FPAE / IAAM)
Łukasz Woliński,,
- The Institute of Aeronautics and Applied Mechanics
, Marek Wojtyra (FPAE / IAAM)
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
Pages413-420
Book CISM International Centre for Mechanical Sciences, Courses and Lectures, CISM International Centre for Mechanical Sciences, 2016, 413-420 p.
DOIDOI:10.1007/978-3-319-33714-2_46
Languageen angielski
Score (nominal)0
ScoreMinisterial score = 0.0, 06-07-2020, MonographChapterAuthor
Publication indicators Scopus Citations = 3; WoS Citations = 2; GS Citations = 2.0
Citation count*2 (2020-09-25)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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