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Industrial robots occupy a central position in automation technology. Especially in the field of handling and assembly, the main domain of industrial robots, an increase of productivity is desired. Serial robots, where drives and links are located in a single chain, are widely used in those applications. A further enhancement of their productivity by shortening of cycle times is limited. In the past years, parallel robots demonstrated their potential in applications with needs for high-dynamic trajectories. Due to their fixed drives and large structural stiffness, they meet the demands for higher accelerations at constant precision, in contrast to serial robots. The direct consequence of large accelerations and decelerations during pick-and-place operations are high inertial forces that lead to vibrations and accordingly large decay times of the effector. To extend the possibilities of parallel robots under this operational conditions and in relation to cycle times and precision, the vibrations have to be suppressed effectively. A key technology for the control of such unwanted effects is smart-structures technology. Smart-structures technology uses structure integrated sensors and actuators to observe and control the vibrations of structures or parts of it. A general problem in smart-structures technologies is the sensitivity of the structures vibration behavior to structural changes. To guarantee the stability of the control loop beyond these changes, a redesign of the controller is necessary. To address this in the majority of cases unattended problem, a new and rapid procedure for a controller development chain including system identification is presented. This paper shows that an automated synthesis of a Robust Controller for a smart-structure system in a complex industrial robot with 4 DOF can be realized and verified. The algorithms are implemented on a real system and proven with measurements. |
