Y.M. Ram and S. Elhay, "The Theory of a Multi-Degree-of-Freedom Dynamic Absorber", Journal of Sound and Vibration, Vol. 195, No. 4, pp. 607-615, 1996.  Home/Search   Document Details and Download   Summary   Related Articles

....particularly useful when the robot operators mount flexible tooling or equipment on the robot arms. c) The method separates friction and elasticity identification d) The method is demonstrated on an industrial ABB robot. e) In the paper we combine an important result from the vibration literature, [7], with the solution of inverse eigenvalue problems, 4] To our knowledge, this is the first time that these methods have been combined and applied to the identification of flexible robot manipulators. The main advantage of the method compared to other identification methods is the fact that only ....

....with no operator input. c) The method separates the friction and elasticity identification which results in more accurate and reliable parameter estimates. d) The method is demonstrated on an industrial ABB robot. e) In the paper we combine an important result from the vibration literature, [7], with the solution of inverse eigenvalue problems, 4] To our knowledge, this is the first time that these methods have been combined and applied to the identification of flexible robot manipulators. The problem of controlling robots with elastic behaviour has received a significant amount of ....

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Y.M. Ram and S. Elhay, "The Theory of a Multi-Degree-of-Freedom Dynamic Absorber", Journal of Sound and Vibration, Vol. 195, No. 4, pp. 607-615, 1996.

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