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This volume reports the work carried out between 1987 and 1991 in the framework of the ESPRIT CIMEProject 1561 entitled A High Performance FMS Robot with On-Line Dynamic Compensation more often referred to by its French acronym SACODY, standing for Structure AlJegee a COmmande DYnamique. The volume is the outcome of a collaborative R&D project performed by a European team coordinated by Bertin & Cie (France) and involving AEG AG and KUKA Roboter GmbH (Germany), LMS International and K.U. Leuven (Belgium) as well as University College Dublin (Ireland). On behalf of this consortium, we would like to acknowledge the support of the Commission of the European Communities, without which the research and development reported hereafter would not have been possible. We would especially like to thank Mrs. Patricia Mac Connaill, Head of the ESPRIT ClME Division, Dr. Rainer Zimmermann, SACODY Project Officer, and the project reviewers Dr. Motta and Profs. Parker, Coiffet and Trostmann for the continuous interest they have shown for the project all along its life as well as for their precious advices.
List of contents
I. Introduction.- 1. Introduction to the SACODY Project.- 2. Theoretical Aspects of Lightweight Robot Control.- II. A Toolbox for Lightweight Robot Design and Verification.- 3. On the Identification of the Dynamic Characteristics of Flexible Robots.- 4. Dynamic Simulation of Multibody Flexible Servomechanisms.- 5. CAD/CAE based Methodology for Optimising Robot Mechanical Design.- 6. Sensor Systems for Robot Evaluation.- III. Industrial Application of the SACODY Robot Control.- 7. Controller Design for a High-Performance Servo Level.- 8. Design and Implementation of an Antivibration Robot Control Software.- 9. Robot Performance Testing.- Conclusion and Outlook.
