Vibration Control of Flexible Servo Mechanisms by Jean-Luc FaillotVibration Control of Flexible Servo Mechanisms by Jean-Luc Faillot

Vibration Control of Flexible Servo Mechanisms

EditorJean-Luc Faillot

Paperback | December 20, 1993

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The ESPRIT project SACODY, carried out between 1987 and1991, has comprehensively studied the problems linked withthe control of lightweight robots. It has succeeded indemonstrating how the implementation of computeraidedtesting and dynamic modelling techniques enables theimprovement of the accuracy of industrial robots whileincreasing their operational speed. Starting from abackground mainly addressing large structures developed forspace applications, it has succeeded in transferring andapplying a spatial control concept into the field ofindustrial robotics.This volume reports the achievements of the project, whichwascarried out by leading experts from industry andacademia within the framework of the first phase of ERSPRIT,the European strategic programme for research anddevelopment in information technology of the Commission ofthe European Communities. SACODY is a French acronym forproject 1561, the English title of which is "A highperformance Flexible Manufacturing System (FMS) robot withon-line dynamic compensation".
Title:Vibration Control of Flexible Servo MechanismsFormat:PaperbackDimensions:213 pagesPublished:December 20, 1993Publisher:Springer Berlin HeidelbergLanguage:English

The following ISBNs are associated with this title:

ISBN - 10:3540561420

ISBN - 13:9783540561422

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Table 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.