Modulating the Dynamic Response of a Redundant Robot: a 3D Linear Displacement Study.

There are many known common problems when attempting to control a robot in different tasks; sometimes the motors make a greater control effort to position or imposing a behavior to the links in an expected way. This paper presents a study on how the modulation of the dynamic response of a robot with more than one redundant degree of freedom must be performed. It is of utmost importance the joint space analysis carried out to select stiffness and damping parameters, which allows the accommodation or achievement of a desired level of control criteria, such as damping ratios with corresponding natural frequencies. Simulations are performed on a UR10e robot from Universal Robots, a very popular cobot.