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LBR II (1998–2002)
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Institute of Robotics and Mechatronics
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3D-Modeler 1 (2001)
3D Modeler (2006–2017)
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ESS
DLR Hand I (1998)
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Laser-stripe Profiler (2003‒2007)
LWR I (1991–1996)
LBR II (1998–2002)
Linear Drive Cylinder
KineMedic (2002-2006)
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LWR II
DLR Light-Weight Robot II (1998–2002)
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.
Full article
Data Sheet
Weight, payload, speed, joints
Full article
Mechanics
The design of the mechanical parts and the integration of all electronic components was done by using modern software technics like virtual prototyping.
Full article
Sensors
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.
Full article
Control
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.
Full article
Light-Weight Robots
History of the DLR LWR
Light-Weight Robot 1 (1991–1996)
Light-Weight Robot II (1998–2002)
LWR III
Control of light-weight robots
Compliant Robotic Systems
Safe Robots
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