Decentralized Control of an Industrial Robot with Elastic Gears
Sprache des Vortragstitels:
81st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Sprache des Tagungstitel:
Today's robots, especially for industrial applications, regularly appear on the market in new shapes, various sizes and challenging configurations. In a certain number of interesting cases, the need for a satisfying joint control will arise, even if the system dynamics is not completely known. Furthermore, despite the fact that most robots' dynamics may be modeled very precisely, the use of complex model based control methods is often not applicable because of considerably high time delays to the distributed drives. Consequently, this contribution describes an independent joint control approach based on the method of nonlinearity estimation and compensation. In contrary to centralized control structures, industrial servo drives, powering synchronous motors, control independently their elastic joints with high sampling frequencies. Focusing not only on simulations, but also on laboratory experiments, detailed results for an industrial robot with six degrees of freedom with elastic gears are presented.