| 摘要 |
In an industrial robot, the speed, working accuracy or loadability can be increased without strengthening the stability via the construction, if provision is made for measuring devices which detect the positional deviation of the free robot-arm end and correct this by controlling the corresponding axles. Even vibrations of the robot-arm end can be damped by a corresponding control of these axles. As a result, a situation is avoided where the greater masses resulting from increasing the stability by constructional measures increase the centrifugal forces or Coriolis forces and therefore the speed or the working accuracy can be only slightly improved.
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