A REALIZATION OF THE ROBOT DYNAMICS MODEL TO CALCULATE NATURAL FREQUENCIES IN REAL TIME

摘要

PURPOSE: A realization method of a robot dynamics model for calculating natural frequencies in real time is provided to calculate accurately natural frequency varying load conditions in real time and shorten time for realizing a dynamic model. CONSTITUTION: A realization method of a robot dynamics model for calculating natural frequencies in real time is as follows. Actual natural frequency is measured according to a robot posture and a load condition(S40). Stiffness of a speed reducer is set up to obtain measured natural frequency. The robot dynamics model is completed depending on stiffness of the speed reducer(S60,S70).