학술논문
Decentralized vibration control for fast and precise light-weight robots
Document Type
Conference
Author
Source
Proceedings. 1991 IEEE International Conference on Robotics and Automation Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on. :2135-2140 vol.3 1991
Subject
Language
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 to be removed by the additional introduction of advanced model-based control structures and concepts. A new mechatronics concept is presented in which structural end-point oscillations are damped by means of a decentrally controlled vibration absorber. Representative simulation results applied to a high-precision SCARA robot confirm the efficiency of the concept.ETX