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提出对机器人的动态特性试验测量的一种实用方法，包括测试原理，测试系的组成．通过对四关节机器人模型的测试，给出测试的动态参数及物体柔性变形的动态响应．
A practical method for testing the dynamic characteristics of a robot is proposed, including the principle of the test and the composition of the test system. By testing the four-joint robot model, the dynamic parameters of the test and the dynamic response of the object flexural deformation are given.