TY - GEN
T1 - Modal analysis of a 7 DoF sweet pepper harvesting robot
AU - Berninger, Tobias F.C.
AU - Fuderer, Sebastian
AU - Rixen, Daniel J.
N1 - Publisher Copyright:
© Society for Experimental Mechanics, Inc. 2020.
PY - 2020
Y1 - 2020
N2 - Modal Analysis is a well-established key tool used to analyze the dynamic behavior of a structure. A robot manipulator consists of mechanical structures, like the body links between the joints and gears, and mechatronic components, like motors and their control system. The dynamic behavior of all subcomponents making up the robot arm are individually well understood. However, their respective influence on the dynamic behavior of the entire robot system is still a matter of research. Understanding the dynamics of the manipulator and setting up a validated model of its full dynamics is essential, in order to devise proper control strategies. One specific challenge comes from the fact that the vibration properties (modes, damping and frequencies) depend on the overall pose and thus change during the operation of the robot. Further, non-linearities from the joints and the action of the joint controller can significantly influence the dynamics of the system. In this paper, the influence of these effects on the overall dynamic behavior of a 7 DOF robot manipulator developed for automated sweet pepper harvesting is analyzed, using Modal Analysis.
AB - Modal Analysis is a well-established key tool used to analyze the dynamic behavior of a structure. A robot manipulator consists of mechanical structures, like the body links between the joints and gears, and mechatronic components, like motors and their control system. The dynamic behavior of all subcomponents making up the robot arm are individually well understood. However, their respective influence on the dynamic behavior of the entire robot system is still a matter of research. Understanding the dynamics of the manipulator and setting up a validated model of its full dynamics is essential, in order to devise proper control strategies. One specific challenge comes from the fact that the vibration properties (modes, damping and frequencies) depend on the overall pose and thus change during the operation of the robot. Further, non-linearities from the joints and the action of the joint controller can significantly influence the dynamics of the system. In this paper, the influence of these effects on the overall dynamic behavior of a 7 DOF robot manipulator developed for automated sweet pepper harvesting is analyzed, using Modal Analysis.
KW - Complex modes
KW - Dynamics of the TCP
KW - Modal analysis
KW - Robotics
KW - Structural dynamics
UR - http://www.scopus.com/inward/record.url?scp=85065964503&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-12684-1_16
DO - 10.1007/978-3-030-12684-1_16
M3 - Conference contribution
AN - SCOPUS:85065964503
SN - 9783030126834
T3 - Conference Proceedings of the Society for Experimental Mechanics Series
SP - 163
EP - 170
BT - Topics in Modal Analysis and Testing, Volume 8 - Proceedings of the 37th IMAC, A Conference and Exposition on Structural Dynamics 2019
A2 - Dilworth, Brandon J.
A2 - Mains, Michael L.
PB - Springer New York LLC
T2 - 37th IMAC, A Conference and Exposition on Structural Dynamics, 2019
Y2 - 28 January 2019 through 31 January 2019
ER -