Abstract
There are several advanced manufacturing tasks like the highly accurate cutting of geometrically difficult metal surfaces which have not yet been solved in the past by means of industrial robots because of their flexible properties mainly, caused by elasticity, plasticity or backlash within the gears. In this paper contrary to the majority of conventional position control algorithms which are based on rigid multibody system models, an alternative control concept is proposed that refers to a more realistic flexible multi-body system model. It provides both a better tracking and disturbance behaviour because not only the servo motor position but also the deflection of each joint and its time derivatives are considered in the closed-loop algorithm. Disturbing nonlinear effects of slip-stick friction can be compensated by the injection of high-frequency “dithering”. The performance quality of the proposed control concept which has been implemented on a microcomputer system will be thoroughly investigated.
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