Experimental Determination of Damping Characteristics for a Single Flexible Link

Ashish Mohan, S. P. Singh, S. K. Saha

ABSTRACT: In this paper, a methodology and procedure for the experimental determination of the damping coefficients in the rigid-flexible robotic systems is presented. A brief overview of the work done by various researchers to theorically quantify the damping parameters is presented underlining the need to complement the theoretical estimation with the experimental data for accurate measurement of damping coefficients. The equations of motion of the rigid-flexible robotic systems incorporating damping are also outlined.

KEYWORDS: Flexible, Damping, Logarithmic Decay, Method of Evolving Spectra

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