Browsing Fakultät für Maschinenbau by Author "5159c12d-c938-4cfa-acef-dfa3a911506c"

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Control-relevant Model Selection for Multiple-Mass Systems

Tantau, Mathias; Jonsky, Torben; Ziaukas, Zygimantas; Jacob, Hans-Georg (Setúbal : SciTePress, 2022)

Physically motivated parametric models are the basis of several techniques related to control design. Industrial model-based controller tuning methods include pole placement, symmetric optimum and damping optimum. The ...
Pose Optimization of Task-Redundant Robots in Second-Order Rest-to-Rest Motion with Cascaded Dynamic Programming and Nullspace Projection

Schappler, Moritz (Cham : Springer, 2023-02-25)

An optimal trajectory for the redundant coordinate for robots in tasks with rotational symmetry such as machining has to be found to ensure good performance and overall feasibility. Due to high nonlinearity of performance ...
Singularity Avoidance of Task-Redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates

Schappler, Moritz; Ortmaier, Tobias (Setúbal, Portugal : SciTePress, 2021-07-23)

Robot manipulators are often deployed in tool-symmetric tasks, which only requires defining end effector position and pointing direction. In this case six-axis serial industrial robots and full-mobility (spatial) parallel ...

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