Study and validation testing of the dynamics of a robotic system with flexible links and joints

Abstract

The dynamics of a 6 DOF lightweight and compact manipulator is modeled and simulated in this work. Both joint and link flexibilities are considered in order to determine modal properties of the robotic system. The numerical results are then compared with experimental measurements of predefined trajectories through a laser tracker. It is demonstrated that both joint and link flexibilities have important effects on the end-effector motion and the vibrational properties of the system. Index terms -robot manipulator, flexible link, flexible joint, laser tracker, vibration mode.