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  4. On a new mechatronics concept for fast and precise light weight robots
 
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1990
Conference Paper
Title

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

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.
Author(s)
Kuntze, H.-B.
Steurer, G.
Hirsch, U.
Mainwork
IEEE International Workshop on Intelligent Motion Control  
Conference
International Workshop on Intelligent Motion Control 1990  
Language
English
IITB  
Keyword(s)
  • active absorption

  • aktive Tilgung

  • decentralized vibration control

  • dezentralisierte Schwingungsregelung

  • fast and accurate micro-manipulation

  • hochgenaue und schnelle Mikromanipulation

  • integrated mechatronics design

  • integrierter Mechatronikentwurf

  • Montage

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