Robot arms exhibit non-ignorable residual vibration during point-to-point motion. Fractional
Delay Time-Varying Input Shaping Technology (FD-TVIST) has previously been shown to …

The flexibility of the joint drive system of an industrial robot can cause vibration at the end
part, which can lead to motion errors. A method to predict the vibration during the motion of …

We consider the problem of tool position and orientation state estimation for robot
manipulators in workspace by sensor fusion of the internal robot joint measurements with …

In order to fulfill conflicting requirements in the development of industrial robots, such as
increased accuracy of a weightreduced manipulator with lower mechanical stiffness, the …

Classic theory of robotic modeling and control is developed under the assumption that a
robot can be described as a simple interconnection of rigid bodies, its behavior being thus …

The control system of industrial robots is often model-based, and the quality of the model of
high importance. Therefore, a fast and easy-to-use process for finding the model parameters …

In this paper, we present a novel nonlinear analytical coupled trajectory optimization of a 7-
DOF Baxter manipulator validated through experimental work utilizing global optimization …

The trajectory tracking in the flexible-joint manipulator (FJM) system becomes complicated
since the flexibility of the joint of the FJM superimposes vibrations and nonminimum phase …

The flexibility of joints has the major influence on the robot stiffness, which makes it limited in
the field of precision and ultra-precision machining. How to ensure the end-effector stiffness …

High-precision industrial manipulators are essential components in advanced
manufacturing. Model-based feedforward is the key to realizing the high-precision control of …