Comparison of Dynamic Properties of Two LWR 4+ Robots

Łukasz Woliński , Marek Wojtyra

Abstract

An efficient dynamic model of LWR4+ robot, based on a recursive multibody approach, is presented. For a test trajectory, driving torques in joints are calculated and measured directly on two different robots of the same type. The repeatability of each robot performance is verified. The calculated and measured quantities are compared. The accuracy of model as well as the variability of robots dynamic parameters are assessed. The obtained results are discussed in the context of individual robots identification.
Author Łukasz Woliński WMEiL
Łukasz Woliński,,
- Faculty of Power and Aeronautical Engineering
, Marek Wojtyra ITLMS
Marek Wojtyra,,
- The Institute of Aeronautics and Applied Mechanics
Pages413-420
Publication size in sheets0.5
Book Parenti-Castelli Vincenzo, Schliehen Werner (eds.): ROMANSY 21 - Robot Design, Dynamics and Control. Proceedings of the 21st CISM-IFToMM Symposium, CISM International Centre for Mechanical Sciences, vol. 569, 2016, Springer International Publishing, ISBN 978-3-319-33713-5, 448 p., DOI:10.1007/978-3-319-33714-2
Keywords in EnglishRobot modeling, Multibody Dynamics, Identification
DOIDOI:10.1007/978-3-319-33714-2
URL http://www.springer.com/us/book/9783319337135#aboutBook
Languageen angielski
Score (nominal)15
Citation count*0 (2018-06-19)
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