Many robotic applications, such as milling, gluing, or high precision measurements, require
the precise following of a predefined geometric path. We investigate the real-time feasible …

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear
models have been proposed to calibrate the inertial parameters and friction parameters of …

The problem of real-time motion generation to a target with obstacle avoidance is
considered. A second-order dynamical system having the target as a unique globally …

The newly released KUKA LBR iiwa 14 R820 robot stands for intelligent industrial work
assistant (iiwa) and is, like its predecessor LBR IV, equipped with torque sensors in each …

Control tasks in various applications are posed as setpoint-stabilization problems, where a
constant reference has to be stabilized. For systems where changing references are given …

Off-line robot dynamic identification methods use the Inverse Dynamic Identification Model
(IDIM), which calculates the motor torques that are linear in relation to the dynamic …

Tendon-driven actuation allows for light and compact manipulator designs with enhanced
safety features. One of the key challenges in model-based control of tendon-driven robots is …

This paper deals with the dynamic identification of the Kuka LightWeight Robot LWR4+.
Although this robot is widely used for research purposes by many laboratories, there is not …

Many robotic tasks, such as human-robot interactions or the handling of fragile objects,
require tight control and limitation of appearing forces and moments alongside sensible …

In many robotic applications, a predefined path must be followed while maintaining contact
with a surface or applying a given force. If size, position, or flexibility of the surface are not …