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On a new mechatronics concepts of decentralized control of fast high precision robots
There are many sophisticated CIM applications requiring both an extremely fast and precise fine motion of a tool or end effector which can not be met by the existing robot technology. The robot velocity can be substantally increased only by using lightweight mechanics and gearless drives. However, a simultaneous damping of structural oscillations and increase of the dynamic end-point precision additionally demands the introduction of mechatronics concepts providing an overall optimization both of the mechanics and control electronics. In this paper a new mechatronics concept of decentralized control of robot end-point vibrations will be presented. Applied to a cartesian high precision robot different model and control approaches will be discussed.