Comparison of Dynamic Properties of Two KUKA Lightweight Robots

Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 569)


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.


Robot modeling Multibody dynamics Identification 



This research was supported by the National Science Centre (Poland) grant no. DEC-2012/07/B/ST8/03993.


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Copyright information

© CISM International Centre for Mechanical Sciences 2016

Authors and Affiliations

  1. 1.Institute of Aeronautics and Applied MechanicsWarsaw University of TechnologyWarsawPoland

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