Innovative drive concept for machining robots

Download statistics - Document (COUNTER):

Denkena, B.; Litwinski, K.; Schönherr, M.: Innovative drive concept for machining robots. In: Procedia CIRP 9 (2013), S. 67-72. DOI:

Repository version

To cite the version in the repository, please use this identifier:

Selected time period:


Sum total of downloads: 115

In this paper an innovative drive concept for robots to improve their machining capability is presented. As a test bed a two-axis robot is designed and equipped with torque motors with load-sided high resolution encoders in addition to conventional gear motors with harmonic drive gearboxes. The gear motors are used for positioning tasks while the torque motors in particular compensate static and dynamic load-sided angle errors. The model-based control algorithm is decoupled and separately actuates both the servo gear and torque motors. It is shown that a considerable increase of performance is possible when adding the torque motors especially regarding the compensation of dynamic angle errors. The paper will present the design and details of the new drive concept, the modeling basics and first simulation results.
License of this version: CC BY-NC-ND 3.0
Document Type: article
Publishing status: publishedVersion
Issue Date: 2013
Appears in Collections:Fakultät für Maschinenbau

distribution of downloads over the selected time period:

downloads by country:

pos. country downloads
total perc.
1 image of flag of Germany Germany 103 89.57%
2 image of flag of Israel Israel 2 1.74%
3 image of flag of Indonesia Indonesia 2 1.74%
4 image of flag of Vietnam Vietnam 1 0.87%
5 image of flag of Russian Federation Russian Federation 1 0.87%
6 image of flag of Korea, Republic of Korea, Republic of 1 0.87%
7 image of flag of Italy Italy 1 0.87%
8 image of flag of India India 1 0.87%
9 image of flag of Spain Spain 1 0.87%
10 image of flag of China China 1 0.87%
    other countries 1 0.87%

Further download figures and rankings:


Zur Erhebung der Downloadstatistiken kommen entsprechend dem „COUNTER Code of Practice for e-Resources“ international anerkannte Regeln und Normen zur Anwendung. COUNTER ist eine internationale Non-Profit-Organisation, in der Bibliotheksverbände, Datenbankanbieter und Verlage gemeinsam an Standards zur Erhebung, Speicherung und Verarbeitung von Nutzungsdaten elektronischer Ressourcen arbeiten, welche so Objektivität und Vergleichbarkeit gewährleisten sollen. Es werden hierbei ausschließlich Zugriffe auf die entsprechenden Volltexte ausgewertet, keine Aufrufe der Website an sich.

Search the repository