DESIGN AND CHARACTERISATION OF A CONTINUOUS ROTARY DAMPER WITH IDEAL VISCOUS DAMPING PROPERTIES

Master'sMASTER OF ENGINEERIN

On the application of a new method for fast and robust position control of industrial robots

There are numerous sophisticated control algorithms for industrial robots (IR) providing perfect results under academic laboratory conditions. The vast majority of IR-control systems on the market prefer rather simple conservative concepts. The main reasons for non-acceptance in practice are the high set-up costs, expensive hardware requirements and poor robustness with respect to parameter variations and model uncertainties. However, sophisticated manufacturing problems of the future (CIM) require model and more a better control performance, a high robustness within a crude industrial environment, more straight forward design and implementation procedures with PC assistance and implementation even on low-price conventional micro hardware. Predictive Functional Control (PFC) represents a new alternative concept for IR-control which can meet the above requirements. In this paper will be reported about the practical application of PFC for the position control of a conventional IR (KUKA 1 60). The excellent control behavior and robustness will be demonstrated by experimental results and a benchmark test. (IITB