On dynamic rigidity of robotic manipulators

Abstract

Dynamic rigidity is one of the key issues in Robotic. The rigidity of the robot arm, which would give useful information to the designer and help to prepare modifications of the construction of the arm. To determine the oscillation of the robot arm while it is in motion or at rest is important to both manufacturer und users. This investigation of rigidity means that we go into the theme of dynamic rigidity and the reciprocal of these, i.e. the compliance. The paper is illustrated with the results of the measurements on robots ATR HD 200 und 500.