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On a new mechatronics concept for fast and precise light weight robots

: Kuntze, H.-B.; Steurer, G.; Hirsch, U.

	Univ. Istanbul: IEEE International Workshop on Intelligent Motion Control Istanbul, 1990
	International Workshop on Intelligent Motion Control <1990, Istanbul>

	English
	Conference Paper
	Fraunhofer IITB ( IOSB) ()
	active absorption; aktive Tilgung; decentralized vibration control; dezentralisierte Schwingungsregelung; fast and accurate micro-manipulation; hochgenaue und schnelle Mikromanipulation; integrated mechatronics design; integrierter Mechatronikentwurf; Montage

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 now to be removed by the additional introduction of advanced model-based control structures and concepts. For solving this problem in this paper a new mechatronics concept will be presented in which structural endpoint oscillations are damped by means of a decentrally controlled vibration absorber.