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Quality of the dynamic response of a robotic manipulator is dependent upon a variety of factors. In this paper, we will discuss the effects on dynamic performance of robot system design and of structural resonant characteristics. A model of the actuator and controller system for a cartesian robot will be presented and its simulated performmance evaluated. Comparison will be made between performance of the model and that of the actual robot system. A model for system resonant characteristics will then be developed and predictions compared with experimental data.