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- W1865809453 abstract "A substantial increase in the robot velocity can only be achieved by introducing light-weight composite materials for the mechanics and gearless motor drives in order to substantially reduce the joint inertia, However, a light-weight robot carcass results in structural oscillations which have to be removed by the additional introduction of advanced model-based control structures and concepts. A new mechatronics concept is presented in which structural end-point oscillations are damped by means of a decentrally controlled vibration absorber. Representative simulation results applied to a high-precision SCARA robot confirm the efficiency of the concept. >" @default.
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- W1865809453 date "1991-01-01" @default.
- W1865809453 modified "2023-09-27" @default.
- W1865809453 title "Decentralized vibration control for fast and precise light-weight robots" @default.
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- W1865809453 doi "https://doi.org/10.1109/robot.1991.131943" @default.
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