<p>The
drivetrain flexibility of industrial robots limits their accuracy. To open up
new areas of application for industrial robots, an increased dynamic path
accuracy has to be obtained. Therefore, this paper addresses this issue by a
gain-scheduled drive-based damping control for industrial robots with secondary
encoders. For this purpose, a linear parameter-varying (LPV) model is derived
as well as a system identification method is presented. Based on this, a
gain-scheduled drive-based LPV damping control design is proposed, which
guarantees stability and performance under variation of the manipulator
configuration. The control performance of the approach is experimentally
validated for the three base joints of a KUKA KR210-2 industrial robot. The
approach realizes a trade-off between ease of implementation and control
performance as well as robustness.</p>