Underactuated multibody systems have fewer control inputs than degrees of freedom. In trajectory tracking control of such systems an accurate and efficient feedforward control is …
Current engineering design trends, such as lightweight machines and human–machine interaction, often lead to underactuated systems. Output trajectory tracking of such systems …
A Lismonde, V Sonneville, O Brüls - Multibody System Dynamics, 2019 - Springer
Lightweight and flexible robots offer an interesting answer to industrial needs for safety and efficiency. The control of such systems should be able to deal properly with the flexible …
E Wernholt, S Moberg - Automatica, 2011 - Elsevier
In this paper, we study the problem of estimating unknown parameters in nonlinear gray-box models that may be multivariable, nonlinear, unstable, and resonant at the same time. A …
S Moberg, E Wernholt… - Journal of …, 2014 - asmedigitalcollection.asme.org
This paper considers the problem of dynamic modeling and identification of robot manipulators with respect to their elasticities. The so-called flexible joint model, modeling …
High-precision industrial manipulators are essential components in advanced manufacturing. Model-based feedforward is the key to realizing the high-precision control of …
In this work an Inertial Measurement Unit is used to improve tool position estimates for an ABB IRB 4600 industrial robot, starting from estimates based on motor angle forward …
S Xu, Z Wu, Z Chu, T Shen - Journal of the Franklin Institute, 2024 - Elsevier
High precision industrial manipulators are widely demanded in precision machining and advanced manufacturing. To realize high precision trajectory tracking in task space …
For human-robot cooperation, intrinsic safety approaches aim at reducing the energy involved in the motion of the robotic system and at increasing the system compliance in …