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On the application of a new method for fast and robust position control of industrial robots

Zur Anwendung einer neuen Methode zur schnellen und robusten Positionsregelung von Industrierobotern
: Arber, C.; Hirsch, U.; Jacubasch, A.; Kuntze, H.-B.; Richalet, J.

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Robotics and Automation 1988. Proceedings. Vol.3
Philadelphia/Pa.: IEEE Computer Society Press, 1988
ISBN: 0-8186-0852-8
S.1574-1581 : Abb.,Tab.,Lit.
International Conference on Robotics and Automation (ICRA) <4, 1988, Philadelphia/Pa.>
Fraunhofer IITB ( IOSB) ()
application; component; control; industry; robot

There are numerous sophisticated control algorithms for industrial robots (IR) providing perfect results under academic laboratory conditions. The vast majority of IR-control systems on the market prefer rather simple conservative concepts. The main reasons for non-acceptance in practice are the high set-up costs, expensive hardware requirements and poor robustness with respect to parameter variations and model uncertainties. However, sophisticated manufacturing problems of the future (CIM) require model and more a better control performance, a high robustness within a crude industrial environment, more straight forward design and implementation procedures with PC assistance and implementation even on low-price conventional micro hardware. Predictive Functional Control (PFC) represents a new alternative concept for IR-control which can meet the above requirements. In this paper will be reported about the practical application of PFC for the position control of a conventional IR (KUKA 1 60). The excellent control behavior and robustness will be demonstrated by experimental results and a benchmark test. (IITB)