Ein neues Verfahren zur schnellen und robusten Positionsregelung von Industrierobotern.

In the past many position control algorithms for industrial robots (IR) have been developed which in theory provide a high performance quality. However these academically perfect control algorithms have turned out not to be robust enough for practical applications within industrial environment. In this paper an internal model control concept for industrial robots will be presented which has been jointly developed with the french research institute ADERSA. It can be easily implemented and provides both a good performance and an excellent robustness with respect to parameter variations. Moreover the tachometer feedback of the joint velocity necessary in conventional IR-control systems can be dropped. The efficiency of the practically implemented control algorithm will be demonstrated by means of experimental results. (IITB)