Decentralized vibration control for fast and precise light weight robots

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 modelbased control structures and concepts. For solving this problem in this paper a new mechatronics concept will be presented in which structural end-point oscillations are damped by means of a decentrally controlled vibration absorber.