Experimental Results

Abstract

This chapter presents experimental verification of the dynamic model and the forward dynamics algorithm proposed in Chaps. 2 and 3. Results of a series of experiments conducted on a real single flexible-link and a two flexible-link robotic arms are presented. Since a real robotic system always involves factors such as joint damping, structural damping, etc., modifications are introduced in the dynamic equations to incorporate them. The modified dynamic equations are given by Eq. (8.2). As the damping factors cannot be accurately modeled because of its dependency on the external environmental factors, the data from the experimental results were used to evaluate the damping factors in the models. Later, experiments on a commercially built two flexible-link robotic arm are explained, and the results for the joint displacements and tip deflections are presented.