Modal Analysis of the Manipulator Arm on the Mobile Chassis

In the contribution an experimental modal analysis of the manipulator arm on the mobile chassis is described. For an assessment of modal parameters the conventional mechanical transducers of acceleration were used. The natural frequencies as well as the magnitudes of displacements were investigated at two different static robot modes – without stabilization of the chassis and with stabilization of the chassis, respectively. The measurements were also performed by the simulation of robot effector loading.