Abstract
Abstract Using robots for heavy loads andlor huge operating ranges causes on the one hand that elastic deformations of the links have to be taken into account. On the other hand, they demand actuators with a significant power density able to produce high forces which can profitably be reached by the use of hydraulic differential cylinders. This paper considers aspects on vibration damping of a hydraulically driven one link flexible robot by intelligent control of the actuator. The modeling of a simple one flexible link system is shown in addition to possible considerations of the hydraulic cylinder. Some ideas of vibration detection using measured values from a laboratory testbed are treated.
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