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To establish the complete dynamic model of a manipulator arm requires precise knowledge of the system mass and stiffness properties. This paper presents an experimental procedure based on the modal analysis concept to identify the dynamic parameters of industrial manipulator arms. The mass and stiffness content of an industrial robot (Cincinnati Milacron T3-776) are extracted from the modal behavior of the arm utilizing a general mathematical model for serial manipulators. The validity of the identified parameters is verified by comparison of the measured vibration behavior of the arm with the behavior of the proposed model. Finally, some suggestions are presented to improve the performance and operating speed of the T3-776 robot by increasing the structural integrity of the system.

He teaches courses in artificial intelligence, data structures and algorithms, and the capstone senior design course. His research interests include unmanned aircraft, mobile robotics, and applied artificial intelligence.