Vibration damping on industrial robots – a semi-active approach to improve the dynamic behavior

被引：0
|
作者：
Neubauer M. [1 ]
Mesmer P. [1 ]
Lechler A. [1 ]
Verl A. [1 ]
机构：
[1] Universität Stuttgart Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW), Seidenstr. 36, Stuttgart
来源：
WT Werkstattstechnik | 2021年 / 111卷 / 09期
关键词：
D O I：
10.37544/1436-4980-2021-09-48
中图分类号：
学科分类号：
摘要：
Industrial robots are increasingly required to provide high path accuracy and good disturbance rejection behavior. In order to achieve this, a semi-active damping approach is presented, which damps drive train vibrations actuator-based. This leads to a more damped system behavior, allowing control gains to be increased. The result is an improved overall behavior, which is demonstrated on a Kuka Kr210–2 with semi-active damping on axis 1. © 2021, VDI Fachmedien GmBH & Co. KG. All rights reserved.
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收藏
页码：622 / 627
页数：5
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