Developing control policies in simulation is often more practical and safer than directly
running experiments in the real world. This applies to policies obtained from planning and …

While a lot of progress has recently been made in dynamic motion planning for humanoid
robots, much of this work has remained limited to simulation. Here we show that executing …

Industrial robot manipulators are general-purpose machines used for industrial automation
in order to increase productivity, flexibility, and quality. Other reasons for using industrial …

In automotive powertrains, backlash imposes well-known limitations on the quality of control
and, hence, on vehicle driveability. High-performance controllers for backlash compensation …

We present an automatic method for interactive control of physical humanoid robots based
on high-level tasks that does not require manual specification of motion trajectories or …

A novel integrated approach to high-accuracy machining with industrial robots is presented
in this paper. By combining a conventional industrial robot with an external compensation …

The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in
presence of process forces. While there are techniques and products available for …

Industrial robots are today essential components in the manufacturing industry where they
are used to save costs, increase productivity and quality, and eliminate dangerous and …

Backlash compensation is used in modern machine-tool controls to ensure high-accuracy
positioning. When wear of a machine causes deadzone width to increase, high-accuracy …

The main objective of the thesis is the identification of flexibilities and nonlinearities in
mathematical models of industrial robots. In particular, a nonparametric frequency-domain …