Abstract
The wish for shorter through-put times in the industrial production is connected with higher requirements on the dynamic of industrial robots. These are susceptible to vibrations due to the combination of serial kinematics, flexible gears and the drive-sided position control of the axes. In order to counteract this circumstance, an approach to reduce vibrations via semi-active damping is presented in this article. The potential of the method is demonstrated by means of a forward dynamic simulation.
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