Effect of Joints’ Configuration Change on the Effective Mass of the Robot

Effective mass of robot is considered of great significance in enhancing the safety of human-robot collaboration. In this paper, the effective mass of the robot is investigated using different joint configurations. This investigation is executed in two steps. In the first step, the position of each joint of the robot is changing alone, whereas the positions of the other joints of the robot are fixed and then the effective mass is determined. In...