DYNAMIC ANALYSIS OF SERIAL ROBOT MANIPULATORS

This paper describes a method to analyze the dynamic performance of serial robot manipulators. The considered measures are the quadratic average of joint torques and the positioning and orientation accuracy of the robot's end-effector. A set of exciting trajectories is designed and optimized along which the robot performance is assessed. The initial points that construct the exciting trajectories are taken from the analysis of the robot workspace. A probabilistic method is adopted to simulate the uncertainty in control factors of robot models. An illustrative example on Unimation Puma 560 robot is provided to demonstrate the proposed approach. Modeling, simulation, and optimization are done in MATLAB ® . The expected outcome is a framework for the dynamic analysis of serial robot manipulators.

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