Abstract
This chapter describes the PUMA 560 industrial robotic system that will be used as the demonstrator throughout this project; highlighting its main components and how they interact with each other. VAL II is a programming language utilized with the used robotic system, hence, included in this chapter is a brief synopsis of some of the important VAL II commands that are needed to programme the robot, referent to the project. In order to design a reliable monitoring system for any machine, some of its characteristics have to be known, such as machine natural frequencies. Thus, the robot natural frequencies are obtained and utilized for preliminary health evaluation and fault detection. To obtain these frequencies an experimental modal analysis (EMA) is performed, which consists of: exciting the robot and then measuring what is called frequency response function (FRF) between the excitation and response. The FRF measurement is normally achieved using specific software to find the natural frequencies from it. Explanation of the EMA theory and how FRFs are calculated, used measurement equipment and software setup for the experiments are also discussed in this chapter.
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Jaber, A.A. (2017). PUMA 560 Robot and Its Dynamic Characteristics. In: Design of an Intelligent Embedded System for Condition Monitoring of an Industrial Robot. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-44932-6_4
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DOI: https://doi.org/10.1007/978-3-319-44932-6_4
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