This paper presents two different models of the structural dynamics of a PUMA 560 robot: a frequency response, and a modal model. The first consists of a set of frequency response functions measured from the structure. The eigenvalues and the mode-shape, which comprise the modal model, are extracted from the response model. In addition to these linear models, the paper describes the nonlinear characteristics of the structure. How the non-linearities affect the measurement technique and the model accuracy is also described.
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Measurement of the Dynamic Model of a PUMA 560 Robot Using Experimental Modal Analysis
Department of Engineering Science, University of Oxford, Oxford, OX1 3PJ, U.K.
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Elosegui, P. (March 1, 1994). "Measurement of the Dynamic Model of a PUMA 560 Robot Using Experimental Modal Analysis." ASME. J. Mech. Des. March 1994; 116(1): 75–79. https://doi.org/10.1115/1.2919380
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