Comparison of Dynamic Properties of Two KUKA Lightweight Robots

Conference paper

DOI: 10.1007/978-3-319-33714-2_46

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 

Copyright information

© CISM International Centre for Mechanical Sciences 2016

Authors and Affiliations

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

Personalised recommendations