Control of direct driven feed axes with flexible structural components

This paper is concerned with the control of direct driven feed axes for robots and machine tools. Special consideration is given to the restriction of the axis performance by elastic structural components. Their effect on the feedback controlled system leads to a simplified dynamic model and to analytical "thumb rules" for the achievable controller gains. Controller gain prediction supports the system design phase and its fast setup. Several newly-developed machine tool feed axes illustrate the benefit of these results as practical examples.