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DLR Light-Weight Robot III
The Institute of Robotics and Mechatronics plays a major role in the field of applied robotics. Three generations of light-weight robots have been developed so far. The latest version has, like its predecessors, an outstanding load-to-weight ratio. The robot weighs just 13.5 kg and is able to handle loads up to 15 kg.
Like in most of AC servo drive systems the cascade control structure is adapted in the LWR in which the current control is the most inner loop. To achieve high performance in torque and position loop the current loop is important, because the bandwidth of the outer loop depends directly on the bandwidth of the current loop.
The DLR Light Weight Robot (LWR) is a light-weight, flexible, revolute joint robot, which by its overall sensoric equipment is especially dedicated for work in the sensitive area of human interaction. The robots size, power and manipulation capabilities are fairly similar to that of a human arm. The robot can be connected to any gripper or tool by a standard robot interface flange, which can also be operated over internal supply lines.
As the Light Weight Robot (LWR) is a highly integrated system of mechanical and electronic components collaboration between electronic and mechanical design from the start is essential.
The DLR Light Weight Robot is used in two different research approaches. One is the use for research on human grasping in combination with the DLR artificial Hand II. The other is the use for technical service tasks with different tools or grippers. In most cases the robot is one way or other sensor guided to achieve its goal.
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