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

fYear

1991

fDate

9-11 Apr 1991

Firstpage

2135

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131943

Filename

131943