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Institute of Robotics
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Elastic Articulated Robot.

The elastic articulated robot ElRob was originally built in munich and brought to Linz in 1998 when o.Univ.-Prof.Dr.-Ing.habil. Hartmut Bremer became the head of the institute. The mechanics as well as electronics got renewed and the control implementation was changed to a real-time dSpace system. In contrast to the elastic articulated robot Ella the curvatures are measured by strain gauges in order to compensate vibration during trajectory as well as disturbance control. Based on this setup different model based control strategies are implemented.

Technical data:

  • Mechanical construction: Serial kinematic with six rotatory degrees of freedom
  • Drives: 1 x 206W, 1 x 584W, 1 x 142W DC engines (Main axes)
  • Max. payload: 5kg
  • Dead load to payload ratio: 0.5
  • Control system: dSpace DS1103
  • Control performance: Current & Position control 1.2ms

Institute of Robotics

Address

Johannes Kepler University Linz
Altenberger Str. 69
4040 Linz
Austria

Location

Science Park 1, 5th floor, Room MT535

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Johannes Kepler University Linz

Altenberger Straße 69

4040 Linz, Austria

Telephone +43 732 2468 0
Fax +43 732 2468 4929
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