This paper concerns the comparison of dynamic properties of two LWR 4+ robots. As a preparation to the identification task, a series of joint torque measurements is performed to determine the variability of the dynamic parameters. The torque measurements from two robots are compared with each other and a simplified multibody model. The results are discussed.
The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.
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