This work proposes two approaches to automatic tuning of PID position controllers based on different global optimization strategies. The chosen optimization algorithms are PSO and MOPSO, i. e. the problem is handled as a ...

This paper presents a novel method for designing a decentralized fuzzy controller for DC microgrids, aiming to reduce operating costs. Therefore, a classical fuzzy control is created for each power supplying grid user based ...

This paper presents a holistic approach for door opening with a Cartesian impedance controlled mobile robot, a KUKA KMR iiwa. Based on a given map of the environment, the robot autonomously detects the door handle, opens ...

A new approach for more energy efficient industrial production processes are smart industrial direct current (DC) microgrids with one or more connections to the alternative current (AC) grid. The advantage of the DC-technology ...

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific ...

An auto-tuning method for a Delta robot’s P/PI cascade motion controller using multi-objective optimization algorithm is proposed. The implemented control structure consists of two controllers: A feedforward controller ...

Robotic tasks like welding or drilling with three translational and only two rotational degrees of freedom ("3T2R") are of high industrial relevance but are rather scarcely addressed in scientific publications. Existing ...

In this paper, a state of charge (SoC) based characteristic diagram control concept for energy storage systems (ESS) within an industrial direct current (DC) microgrid is proposed. The inputs are the SoC of the ESS and the ...