Experimental Validation of a Dynamic Model for Lightweight Robots

Nowadays, one of the main topics in robotics research is dynamic performance improvement by means of a lightening of the overall system structure. The effective motion and control of these lightweight robotic systems occurs with the use of suitable motion planning and control process. In order to do so, model-based approaches can be adopted by exploiting accurate dynamic models that take into account the inertial and elastic terms that are usually neglected in a heavy rigid link configuration. In this paper, an effective method for modelling spatial lightweight industrial robots based on an Equivalent Rigid Link System approach is considered from an experimental validation perspective. A dynamic simulator implementing the formulation is used and an experimental test-bench is set-up. Experimental tests are carried out with a benchmark L-shape mechanism

On the Modeling of Flexible-Link Robots: First Experimental Validation of an ERLS-FEM Dynamic Model

The task of modellinG and control of lightweight robots is directly related to a suitable motion planning and control. To achieve such results and increase performances, accurate dynamic models that take into account the usually neglected inertial and elastic terms can be adopted in model-based approaches. In this paper, the experimental validation of an effective method based on an Equivalent Rigid Link System approach has been assessed. To this end, a dynamic simulator implementing the formulation has been exploited and an experimental test-bench has been set-up. The experimental tests carried out with a benchmark L-shape mechanism show a good agreement between the numerical model and the experimental measurement