PROBLEMS IN REALTIME CONTROLLING OF THE MOTION AXES OF HANDLING DEVICES

Abstract The positioning and production accuracy of handling devices is affected by various influences dependent on the handling device and the handling process. The continously changing load distribution of the handling device and the handled object according to the handling task both result in deviation from the directed motion. The motion of point-to-point-controlled handling devices must be executed time-optimal and without overshooting. Path-controlled handling devices should have a limited path error regardless of the travelling speed.