Time-optimal motion planning for robotic manipulators consists of moving the robot along a
path in Cartesian space as fast as possible. In contrast to time-optimal path following, small …

The main idea of iterative learning control (ILC) was exposed when Arimoto's first paper was
published. Industrial tasks mainly in repetition are controlled by an iterative teaching …

Orbital stabilization is one of the available alternatives to the classical asymptotic
stabilization, known as the reference tracking control, which is typically considered and …

Nowadays, it is not uncommon to find news and research about robotic machining
applications, as milling and drilling. The flexibility, programmability and low price of robots …

The rising demand for passenger aircrafts along with the modern concept of eco-efficient
flying have resulted in several adaptive manufacturing strategies of large structure …

In this thesis, we draw inspiration from both classical system identification and modern
machine learning in order to solve estimation problems for real-world, physical systems. The …

In this thesis, we discuss several techniques for solving nonlinear optimization problems
arising in nonlinear model predictive control (NMPC). They share two things in common …

Robotic machining is considered a viable replacement for large, fixed single-process
machines like computer numerical control (CNC) machining and drilling units. Robotic …

Since the introduction of industrial robots their area of application has continuously
expanded. However, their high compliance due to the serial linked structure prevents their …

Industrial robots typically require detailed programming and carefully configured work cells
to perform well. The large engineering effort implicates high cost and long preparation time …