Abstract
In this paper contrary to the majority of conventional position control algorithms for industrial robots (IR) which are based on rigid multi-body system models a more realistic control concept will be presented that refers to a flexible multi-body system model It provides a much better disturbance behaviour because the deflection of each joint and its time derivative are additionally considered in the closed-loop algorithm. Further improvement can be achieved by a feedforward compensation. Disturbing effects of nonlinear slip-stick friction can be compensated by the injection of high-frequency “dithering”. Moreover superimposed force control algorithms for the automatic tactile edge and surface scanning of work pieces by means of a force/torque wrist sensor will be proposed.
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