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Authors: Carlos Saldarriaga ; Marcelo Fajardo-Pruna ; Carlos Helguero and Jonathan Leon-Torres

Affiliation: Facultad de Ingeniería en Mecánica y Ciencias de la Producción, Escuela Superior Politécnica del Litoral, ESPOL, Campus Gustavo Galindo Km 30.5 Vía Perimetral, P.O. Box 09-01-5863, Guayaquil, Ecuador

Keyword(s): Redundant Robotic System, Dynamic Response, Dominant Natural Frequencies, Fast Fourier Transform, Robotic Manipulator.

Abstract: Robotic systems often encounter challenges in achieving desired dynamic responses, especially when they possess redundant degrees of freedom. This paper proposes a methodology to identify a redundant robotic system’s dominant natural frequencies and tune its dynamic response through appropriate damping. The system’s natural frequencies are accurately identified by analyzing displacement data and leveraging the power of fast Fourier transform tools. These frequencies serve as critical parameters for modifying the response behavior, enabling enhanced control and stability. To validate the effectiveness of the proposed methodology, simulations are conducted on a 7-degree-of-freedom redundant Panda robotic manipulator. The results demonstrate the methodology’s potential to optimize the dynamic performance of complex robotic systems, opening avenues for improved efficiency, safety, and overall system performance.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Saldarriaga, C.; Fajardo-Pruna, M.; Helguero, C. and Leon-Torres, J. (2023). Tuning the Dynamic Response of a Redundant Robotic System Using Its Dominant Natural Frequencies. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 166-172. DOI: 10.5220/0012191000003543

@conference{icinco23,
author={Carlos Saldarriaga. and Marcelo Fajardo{-}Pruna. and Carlos Helguero. and Jonathan Leon{-}Torres.},
title={Tuning the Dynamic Response of a Redundant Robotic System Using Its Dominant Natural Frequencies},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2023},
pages={166-172},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012191000003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Tuning the Dynamic Response of a Redundant Robotic System Using Its Dominant Natural Frequencies
SN - 978-989-758-670-5
IS - 2184-2809
AU - Saldarriaga, C.
AU - Fajardo-Pruna, M.
AU - Helguero, C.
AU - Leon-Torres, J.
PY - 2023
SP - 166
EP - 172
DO - 10.5220/0012191000003543
PB - SciTePress

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