I would like to benchmark the dynamic behavior of a new gripper system mounted on a KUKA robot during some extreme situations.
The customer gave us various acceleration limits that the gipper has been designed for and a description of the tasks to be carried out.
Unfortunately they decided to use an ABB later for the production case, thus I have to reverse-engineer a few things.
In our test environment I'd like to make some test procedures with our KR 240-2 robot, with which these specified limits are going to be reached hopefully.
It seems to me that specific PTP movements would be a good choice to start with.
As there is no information in the datasheet about A1..A6 acceleration limits, my questions are:
- is there a way to guess maximum axis accelerations during PTP movements, so that I could design them mathematically?
(however the robot's dynamic model seems to be a black box, involving electric current limitations)
- under a given load situation (m=100 kg, thus approx. 50% of the max. load capability), in what range would vary the acceleration under different joint positions assuming that $ACC_AXIS[i]=100% has always been set?