6 accepted papers
This paper presents a novel approach for time-optimal path parameterization based on reachability analysis for robotic systems with viscous friction in the dynamics and jerk constraints. The main step of the method is the backward propagation of controllable sets through a linear second-order system
Dynamic Movement Primitives (DMPs) are a well-known tool for encoding robotic motions. Their popularity stems from invariance properties in time and space, the ability to describe complex coordinated motions in multiple degrees of freedom with a relatively small number of parameters, and the lineari…
Strain wave gears are frequently used in small and medium size industrial robots. In order to describe and quantify friction effects in gearboxes of such type, a structurally simple, yet powerful model is proposed taking into account both speed-and load-dependent friction effects. Moreover, position…
Robotic assembly tasks are subject to uncertainties arising from part tolerances. A popular approach to deal with such partially unstructured environments is to introduce compliance by using admittance control schemes. For such schemes, contact forces and torques are speed dependent, which often lim…
Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (…
A new Robotic Assembly Skill (RAS) modeling framework is proposed. An assembly skill is a primitive that encapsulates the capabilities to coordinate, control and supervise an elementary robot task. To gain reusability of a primitive in alike robot tasks, the primitives are represented as generic tem…