On the environment dynamics parameters in robotic contact tasks. Part 1: Identification of forces, stiffness and damping

摘要

This paper emphasizes the problem of the environment dynamics parameters identification, particulary of stiffness and damping, which are important in case of contact tasks, especially in cases of robotized machining. A robotized machining systemwas conceived and for that case a simulation model is realized. For the case of robotized machining by cutting the cutting force components were determined experimentally, in the conditions that are suitable to the characteristics of contemporary,commercially available robots. The characteristics of material stiffness at tool penetration into aluminium, oak wood and textolite were also determined experimentally. The procedure for the identification of the environment dynamics parameters wasestablished, based partly on experimental measurements and partly on simulation experiments.