3 accepted papers
The on-ground validation of orbital manipulators is a challenging task because the robot is designed for a gravity-free operational environment, but it is validated under the effect of gravity. As a consequence, joint torque limits can be easily reached in certain configurations when gravity is acti…
This work addresses the problem of global set-point control of elastic joint robots by combining elastic structure preserving (ESP) control with non-collocated integral action. Despite the popularity and extensive research on PID control for rigid joint robots, such schemes largely evaded adoption t
The observation of robotic assembly tasks is required as feedback for decisions and adaption of the task execution on the current situation. A sequential Monte Carlo observation algorithm is proposed, which uses a fast and accurate collision detection algorithm as a reference model for the contacts…