Abstract
Design of a very fast and precise modular revolute-joint manipulator is shown in detail. The complete design cycle from modelling over identification up to realization of the control is aided by a mechatronic design environment which is based on a unified model description in state-space. Special emphasis lies on the generation of a reliable entire model of this complex system and on the controller design. The derivation of a symbolic model of the robot including elasticities in gears and bearings is the basis of the design of a complex controller including a disturbance estimator. Measurements show the efficiency of the proposed proceeding.
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12. References
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© 1994 Springer-Verlag London Limited
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Schütte, H., Moritz, W., Neumann, R., Wittler, G. (1994). Practical realization of mechatronics in robotics. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027604
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DOI: https://doi.org/10.1007/BFb0027604
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