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Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
Institute for Optical Sensor Systems
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DLR Light-Weight Robot II (2000)
The DLR Light-Weight Robot II, firstly presented at the 2000 Hanover Fair, offered an until then unmatched ratio of payload to total mass. It could move a payload of 7 kg at full speed but weighed only 18 kg.
Weight, payload, speed, joints
The design of the mechanical parts and the integration of all electronic components was done by using modern software technics like virtual prototyping.
Each of the Lightweight Robot´s joint contains three different sensors: a joint torqe sensor, a joint position sensor and a motor position sensor. Due to this large number of sensors, it is possible to use progressive control algorthms like impedance control and enables us to control an elastic robot arm.
The control of DLR Lightweight Robot is build up hirachic with multiple layers which have different sampling rates. The inner and fastest one is the motor control loop, followed by joint control and finally the over all control of the whole robot. Measuring motor position, joint position and joint torque, the controller is provided with three sensor signals for each joint.
Light - Weight Robots
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