Research on industrial robot dynamics based on robot controllers and vibration

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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.