SIMULATION OF ROBOTIC ARM'S OSCILLATION RESPONSE WHEN SUBJECT TO FORCED EXCITATION FROM SERVO MOTION

Abstract

The study simulates the vibration response of a robot arm under forced excitation from a servo using the finite element method. The model is excited in the form of F(t) = 10sin(ωt) with a frequency of 20 Hz, and the displacement, acceleration, and deformation energy quantities are analyzed. The results show that the oscillation amplitude is very small, does not cause significant errors in the robot motion, and the system quickly stabilizes without resonance. The results provide a quantitative basis for robot design and control to limit vibration and increase accuracy.