Title :
Decentralized vibration control for fast and precise light-weight robots
Author :
Kuntze, H.-B. ; Hirsch, U. ; Steurer, G.
Author_Institution :
Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, Germany
Abstract :
A substantial increase in the robot velocity can only be achieved by introducing light-weight composite materials for the mechanics and gearless motor drives in order to substantially reduce the joint inertia, However, a light-weight robot carcass results in structural oscillations which have to be removed by the additional introduction of advanced model-based control structures and concepts. A new mechatronics concept is presented in which structural end-point oscillations are damped by means of a decentrally controlled vibration absorber. Representative simulation results applied to a high-precision SCARA robot confirm the efficiency of the concept
Keywords :
decentralised control; robots; vibration control; SCARA robot; decentrally controlled vibration absorber; light-weight robots; mechatronics; model-based control structures; robot velocity; structural end-point oscillations; structural oscillations; Bandwidth; Composite materials; Force measurement; Kinematics; Lighting control; Motion control; Motor drives; Robot sensing systems; Robotics and automation; Vibration control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131943
