Comparison of Dynamic Properties of Two KUKA Lightweight Robots
Conference paper First Online: 30 June 2016 DOI:
Part of the
CISM International Centre for Mechanical Sciences
book series (CISM, volume 569) Cite this paper as: Woliński Ł., Wojtyra M. (2016) Comparison of Dynamic Properties of Two KUKA Lightweight Robots. In: Parenti-Castelli V., Schiehlen W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences (Courses and Lectures), vol 569. Springer, Cham 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.
Keywords Robot modeling Multibody dynamics Identification References
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