Low cost automation with lighter, versatile machines
Book, Wayne John
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This paper describes the opportunities for improving the cost/performance ratio for industrial robots and other industrial equipment through reduction in their weight. Also described are four approaches to taking advantage of these opportunities without encountering the adverse effects inherent in compliant structures. These approaches are 1) active joint control, 2) passive damping enhancement, 3) trajectory planning, and 4) operational strategies such as "bracing." It appears that using all four approaches in combination may be most effective.