Modeling Robot Flexibility for Endpoint Force Control

Abstract

Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characteristics of the models, and to provide insight into the nature of the flexibility in the robot. Certain models are better able to depict transmission flexibility while others describe types of structural flexibility.