1 Applied Robust Control for Vibration Suppression in Parallel Robots

Abstract — Automation within the range of handling and assembly applications requires qualified solutions due to the complex technological processes. The long-term goals are the reduction of cycle time and an increase of the process quality. They can be achieved by innovative concepts which are based on parallel kinematics, realizing higher speeds and accelerations with constant accuracy compared to conventional serial robot structures. High accelerations are equivalent to high forces in the starting and deceleration phase of the trajectory. The vibrations of the robot structure induced thereby and the following decaying procedure are unwanted and time-consuming in handling and assembly applications, in particular during accurate placement of components. In the context of German DFG Collaborative Research Center 562 ’Robotic Systems for Handling and Assem-bly ’ a parallel robot with two degrees of freedom, made of CFR