Robot Task Oriented Dexterity and Dynamic Performance: A Statistical Approach

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Abstract
Robot task oriented dexterity has recently reached a well-known acknowledgment for its capability of definig robot arm manipulability figures, over the working space. Because it seemed to the authors that not yet robot dynamic performances have been taken into account in defining its local properties, it has been studied a simple 2R robot arm, in order to identify the most siutable parameters for this scope. By simulating a mathematical model forced with random input signals (forces), its dynamic behaviour has been investigated with a Monte Carlo approach. Without willing to obtain a complete modal analysis, some numerical parameters have been found as capable to identify system dynamics, e.g. the principal direction of system free oscillations, and its eigenfrequency value. Discussion of the results over the workspace and as a function of system mechanical stiffness properties is also performed.

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