Frequency Response Optimization of an Industrial Robot Arm

Abstract

This study contributes to the development of more resilient and responsive control systems for industrial robotics. Industrial robot arms are subject to various vibrational forces during various operations, which can limit their accuracy and response time. This paper studies the vibration characteristics of a robotic arm through real world measurement and Finite Element Analysis (FEA). The robot arm is the MELFA RV-2SDB15. In this paper, the authors determine the dynamic parameters of the examined manipulator. Experimental measurement is carried out with a modal approach. Optimization techniques are employed to develop an accurate CAD model of the robotic arm.