6 accepted papers
Modern collaborative robotic applications require robot motions that are predictable for human coworkers. Therefore, trajectories often need to be planned in task space rather than configuration space (\mathcal{C}\mathcal{C}-space). While the interpolation of translations in Euclidean space is strai…
Modern collaborative manipulators operate in unknown environments and share the work space with human coworkers. To ensure flexibility, their kinematic design is redundant which increases the solution space of the inverse kinematics (IK). We propose a real-time capable Predictive Kinematics Controll…
Modern flexible production systems benefit from collaborative robot systems that support to teach robot configurations by hand to quickly implement collision-free motions. However, appropriate interpolation schemes that allow a fast and smooth motion through this sequence of waypoints is often not p
Because of their large workspace, robot manipulators have the potential to be used for high precision non-contact manufacturing processes, such as laser cutting or welding, on large complex work pieces. However, most industrial manipulators are not able to provide the necessary accuracy requirements…
In order to fulfill conflicting requirements in the development of industrial robots, such as increased accuracy of a weightreduced manipulator with lower mechanical stiffness, the robot's dynamical behavior must be evaluated early in the development process. This leads to the need of accurate multi…
Over the past decade we have been able to vastly improve the control algorithms of our biped walking robot LOLA. Further enhancements, however, are limited by vibration problems caused by the dynamics of LOLA's mechanical structure. In this work, we present small examples how structural dynamics lim…