Kuntze, H.-B.H.-B.KuntzeSteurer, G.G.SteurerHirsch, U.U.Hirsch2022-03-082022-03-081990https://publica.fraunhofer.de/handle/publica/317764A 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.enactive absorptionaktive Tilgungdecentralized vibration controldezentralisierte Schwingungsregelungfast and accurate micro-manipulationhochgenaue und schnelle Mikromanipulationintegrated mechatronics designintegrierter MechatronikentwurfMontage004conference paper