3 accepted papers
The determination of the dynamic properties of a robot is especially important for designing highly accurate and efficient control systems. Conventional methods for dynamic model identification have proven to be effective, where deep learning (DL) approaches have shown limits due to data inefficienc…
Parallel kinematics machines (PKM) operate with maximal acceleration being designed for highly dynamic manipulation tasks. This leads to extreme loads of the joints, which is usually not accounted for in the motion planning. In this paper an extended inverse dynamics method is introduced, which allo…
Various model-based control schemes, e.g. feedback-linearizing control of robotic manipulators with series elastic actuators require time derivatives of the control forces, i.e. of the equations of motion. This is referred to as the higher-order inverse dynamics problem. As this must be evaluated on…