The ESPRIT project SACODY, carried out between 1987 and 1991, has comprehensively studied the problems linked with the control of lightweight robots. It has succeeded in demonstrating how the implementation of computer aided testing and dynamic modelling techniques enables the improvement of the accuracy of industrial robots while increasing their operational speed. Starting from a background mainly addressing large structures developed for space applications, it has succeeded in transferring and applying a spatial control concept into the field of industrial robotics. This volume reports the achievements of the project, which was carried out by leading experts from industry and academia within the framework of the first phase of ESPRIT, the European strategic programme for research and development in information technology of the Commission of the European Communities. SACODY is a French acronym for project 1561, the English title of which is "A high performance Flexible Manufacturing System (FMS) robot with on-line dynamic compensation".
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.
Series: Research Reports Esprit / Project 1561. Sacody
Number Of Pages: 206
Publisher: Springer-Verlag Berlin and Heidelberg Gmbh & Co. Kg
Country of Publication: DE
Dimensions (cm): 23.39 x 15.6
Weight (kg): 0.31