Tuning the Dynamic Response of a Redundant Robotic System Using Its Dominant Natural Frequencies

Carlos Saldarriaga, Marcelo Fajardo-Pruna, Carlos Helguero, Jonathan Leon-Torres

2023

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.

Paper Citation

in Harvard Style

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, SciTePress, pages 166-172. DOI: 10.5220/0012191000003543

in Bibtex Style

@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},
}

in EndNote Style

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
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