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Vibration Control of Flexible Servo Mechanisms

Jean-Luc Faillot (Herausgeber)

Buch | Softcover

VII, 206 Seiten

1993 | 1. Softcover reprint of the original 1st ed. 1993
Springer Berlin (Verlag)
978-3-540-56142-2 (ISBN)

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Dieser Band der ESPRIT-Forschungsberichte behandelt neue Ergebnisse im Bereich der Steuerung von leichtgewichtigen Robotern. Er beschreibt Entwurf und Entwicklung eines Hochleistungsroboters für den Einsatz in flexiblen automatisierten Montagesystemen.

This volume reports the work carried out between 1987 and 1991 in the framework of the ESPRIT CIMEProject 1561 entitled A High Performance FMS Robot with On-Line Dynamic Compensation more often referred to by its French acronym SACODY, standing for Structure AlJegee a COmmande DYnamique. The volume is the outcome of a collaborative R&D project performed by a European team coordinated by Bertin & Cie (France) and involving AEG AG and KUKA Roboter GmbH (Germany), LMS International and K.U. Leuven (Belgium) as well as University College Dublin (Ireland). On behalf of this consortium, we would like to acknowledge the support of the Commission of the European Communities, without which the research and development reported hereafter would not have been possible. We would especially like to thank Mrs. Patricia Mac Connaill, Head of the ESPRIT ClME Division, Dr. Rainer Zimmermann, SACODY Project Officer, and the project reviewers Dr. Motta and Profs. Parker, Coiffet and Trostmann for the continuous interest they have shown for the project all along its life as well as for their precious advices.

I. Introduction.- 1. Introduction to the SACODY Project.- 2. Theoretical Aspects of Lightweight Robot Control.- II. A Toolbox for Lightweight Robot Design and Verification.- 3. On the Identification of the Dynamic Characteristics of Flexible Robots.- 4. Dynamic Simulation of Multibody Flexible Servomechanisms.- 5. CAD/CAE based Methodology for Optimising Robot Mechanical Design.- 6. Sensor Systems for Robot Evaluation.- III. Industrial Application of the SACODY Robot Control.- 7. Controller Design for a High-Performance Servo Level.- 8. Design and Implementation of an Antivibration Robot Control Software.- 9. Robot Performance Testing.- Conclusion and Outlook.

Erscheint lt. Verlag	20.12.1993
Reihe/Serie	Project 1561. SACODY
Reihe/Serie	Research Reports Esprit
Zusatzinfo	VII, 206 p. 12 illus.
Verlagsort	Berlin
Sprache	englisch
Maße	155 x 235 mm
Gewicht	330 g
Themenwelt	Informatik ► Weitere Themen ► CAD-Programme
Schlagworte	CIM • CIM (Computer integrated manufacturing) • Complexity • Computer-Aided Design (CAD) • Computer-Aided Engineering (CAE) • Control • Engineering Economics • HC/Informatik, EDV/Anwendungs-Software • Industrial Robot • Industrial Robotics • Industrieroboter • Leichtgewicht-Roboter • lightweight robots • Modeling • robot • Robot control • Roboter • Robotersteuerung • Robotics • Sensor • sensors • Sensorsysteme • Sensortechnik • Sensory systems • Simulation • space applications • Vibration
ISBN-10	3-540-56142-0 / 3540561420
ISBN-13	978-3-540-56142-2 / 9783540561422
Zustand	Neuware