Research on industrial robot dynamics based on robot controllers and vibration

Industrial robots have been widely utilized for industrial automation. With the advantage of flexibility and large workspaces, they are also put into machining applications to increase productivity. A number of hazardous and unpleasant machining works could furthermore be eliminated. Robot control systems and dynamic performance are two key features of robot machining. In order to offer a practical foundation for improving industrial robot machining, this thesis evaluated the performance of industrial robots on these two aspects.