机器人的动态特性试验研究

Experimental Study of Dynamic Propeties of a Robot

提出对机器人的动态特性试验测量的一种实用方法，包括测试原理，测试系的组成．通过对四关节机器人模型的测试，给出测试的动态参数及物体柔性变形的动态响应．

For testing and measuring dynamic properties of a robot, the authors propose a practical method including principle of test and composition of test system.By way of the test conducted on a model of robot with four joints, the authors give dynamic parameters of test and dynamic response of flexible deformation of a body.