Vibration Control of Flexible Servo Mechanisms

ISBN-13: 9783540561422 / Angielski / Miękka / 1993 / 206 str.

Jean-Luc Faillot

Opis

Reports the achievements of an ESPRIT project on the problems linked with the control of light-weight robots. It describes the design and development of a high-performance robot for use in Flexible Automated Assembly Program (FAAS) environments.

Spis treści

I. Introduction.- 1. Introduction to the SACODY Project.- 2. Theoretical Aspects of Lightweight Robot Control.- II. A Toolbox for Lightweight Robot Design and Verification.- 3. On the Identification of the Dynamic Characteristics of Flexible Robots.- 4. Dynamic Simulation of Multibody Flexible Servomechanisms.- 5. CAD/CAE based Methodology for Optimising Robot Mechanical Design.- 6. Sensor Systems for Robot Evaluation.- III. Industrial Application of the SACODY Robot Control.- 7. Controller Design for a High-Performance Servo Level.- 8. Design and Implementation of an Antivibration Robot Control Software.- 9. Robot Performance Testing.- Conclusion and Outlook.