3 accepted papers
To date, the assembly of optical systems is still not fully automated. Automated assembly can be facilitated by having an optical simulation at hand, which, in turn, requires knowledge about the current state of the optical system. Due to the strict demands on the positioning tolerances, the uncerta
Industrial robotic manipulators can be augmented by a micro-positioning unit in order to increase their precision resulting in a so called macro-micro-manipulator. The micro-positioning unit is typically driven by piezoelectric actuators due to their beneficial properties. However, contact forces du…
In this paper we propose a novel hybrid Cartesian force/impedance controller that is equipped with energy tanks to preserve passivity. Our approach overcomes the problems of (hybrid) force control, impedance control, and set-point based indirect force control. It allows accurate force tracking, full…