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Robust Gain Scheduling for Smart-Structures in Parallel Robots

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Robotic Systems for Handling and Assembly

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 67))

Abstract

Smart-structures offer the potential to increase the productivity of parallel robots by reducing disturbing vibrations caused by high dynamic loads. In parallel robots the vibration behavior of the structure is position dependent. A single robust controller is not able to gain satisfying control performance within the entire workspace. Hence, vibration behavior is linearized at several operating points and robust controllers are designed. Controllers can be smoothly switched by gain-scheduling. A stability proof for fast varying scheduling parameters based on the Small-Gain Theorem is developed. Experimental data from Triglide, a four degree of freedom (DOF) parallel robot of the Collaborative Research Center 562, validate the presented concepts.

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Authors and Affiliations

  1. Institute of Composite Structures and Adaptive Systems, German Aerospace Center (DLR), Lilienthalplatz 7, 38108, Braunschweig, Germany

    Stephan Algermissen & Michael Sinapius

Authors
  1. Stephan Algermissen
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  2. Michael Sinapius
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Editors and Affiliations

  1. Institute of Machine Tools and Production Technology, Technische Universität Braunschweig, Langer Kamp 19b, 38106, Braunschweig, Germany

    Daniel Schütz

  2. Institute for Robotics and Process Control, Technische Universität Braunschweig, Mühlenpfordtstraße 23, 38106, Braunschweig, Germany

    Friedrich M. Wahl

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Algermissen, S., Sinapius, M. (2010). Robust Gain Scheduling for Smart-Structures in Parallel Robots. In: Schütz, D., Wahl, F.M. (eds) Robotic Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, vol 67. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16785-0_10

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  • DOI: https://doi.org/10.1007/978-3-642-16785-0_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16784-3

  • Online ISBN: 978-3-642-16785-0

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