An effective approach to vibration analysis of a robot arm is presented which combines a linearized Newton-Euler equation with time-variable elastic deformation of the links and joints. In order to identify the coefficients of rigidity of the joints and to verify the results of the vibration analysis, an experimental method is introduced which utilizes a multiple acceleration meter system to investigate the elastic characteristic of joints and the transfer functions of the robot arm.
|ホスト出版物のタイトル||Unknown Host Publication Title|
|編集者||H. Van Brussel|
|出版者||IFS Publ Ltd, & Springer-Verlag, West Ger & New York|
|出版物ステータス||Published - 1986 12 1|
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