Auflistung Fakultät für Maschinenbau nach Autor/in "9109dde3-bbed-4d40-9ce9-f51e2c298b66"

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Backlash Identification in Industrial Positioning Systems Aided by a Mobile Accelerometer Board with Wi-Fi

Tantau, Mathias; Perner, Lars; Wielitzka, Mark; Ortmaier, Tobias (Prague : SciTePress, 2020)

In electromechanical motion systems performance measures such as positioning accuracy, dynamic stiffness and control bandwidth are severely limited by backlash. Several control schemes based on backlash compensation or ...
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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