Adaptive Tools in Parallel Robotics

Abstract

In the Collaborative Research Centre 562 (SFB 562) parallel robotic systems for handling and as-sembly are investigated. Technologies known as “smart” or “adaptive” are used to further enhance such robotic systems. The objective for using adaptive systems is to either decrease cycle-times or increase precision. A crucial requirement in order to reach short cycle-times and high precision is minimizing the vibra-tion of the structure in the process of handling or assembling. The means for meeting this require-ment is using adaptive systems for active vibration suppression. In this paper the tools which are the basis for developing and building such adaptive systems are discussed. These adaptive tools range from hardware components like actuators and sensors designed for parallel robots to the simulation of the robotic structure and controller design techniques