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DLR Light-Weight Robot (LWR)
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. |
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Control
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. |
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Construction
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. |
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Methods
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. |
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Applications
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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Previous Versions
We have developed light-weight robots since 1992. Learning-by-doing while developing LWR-I, we managed to develop an excellent robot with LWR-II, the current version's predecessor. |
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Future Versions
As the next step it is planned to make up a two armed body of two LWRs with three degrees of freedom in the torso (eg. roll – pitch – pitch, with position coupling for the part holding the arms). With this setup research on two armed action and interaction shall be performed ... |
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