Hubert Gattringer

Design and Implementation of Elastic Structure Preserving Vibration Suppression Control for Flexible Link Robots Using IMU Measurements

Dedicated Dynamic Parameter Identification for Delta-Like Robots

Dynamics simulation of parallel kinematic manipulators (PKM) and non-linear control methods require a precisely identified dynamics model and explicit generalized mass matrix. Standard methods, which identify so-called dynamic base-parameters, are not sufficient to this end. Algorithms for identifyi

Smooth Invariant Interpolation on Lie groups with Prescribed Terminal Conditions for Robot Motion Planning and Modeling of Soft Robots

Interpolation of rigid body motions, or a general frame motion in Euclidean space, is a recurring topic in robotics. It boils down to generating trajectories in a Lie group, either SE (3) or SO (3) × ℝ3, with given initial and/or terminal values. To this end, spline interpolation schemes were develo…

Time-Optimal Point-To-Point Motion Planning and Assembly Mode Change of Cuspidal Manipulators: Application to 3R and 6R Robots

The kinematics of cuspidal 3R regional robots was studied extensively in the past. Moreover, certain industrial 6R robots were found to be cuspidal (e.g. Fanuc CRX series, Kinova GEN2), which makes cuspidal robots finally interesting for practical applications. This necessitates optimal trajectory p…

The Virtual Wheel Concept for the Singularity-Free Kinematics and Dynamics Modeling and Control of Pseudo-Omnidirectional Vehicles

Pseudo-omnidirectional vehicles (POV) are equipped with several center steered and driven standard wheels, and exhibit high maneuverability and positioning accuracy. Yet this class of mobile systems is rarely considered. Despite their simple setup, the mathematical modeling is challenging. Moreover

Time Optimal Motion Planning and Admittance Control for Cooperative Grasping

Cooperative grasping refers to the situation when an object is manipulated by multiple robots and the grasp is achieved by the unilateral contact between the robots and the object. This is different from the cooperation of multiple robots where each robot rigidly grasps the object. Motion planning o

Online Robot-Object Synchronization With Geometric Constraints and Limits on Velocity, Acceleration, and Jerk

This letter presents a new approach to online synchronization of a robot to the motion of an object. This is done by an iterative trajectory planning approach. Trajectory planning is divided into geometric path planning and subsequent time optimal parameterization of the geometric path. The geometri

Kinematic analysis and singularity robust path control of a non-holonomic mobile platform with several steerable driving wheels

The use of more than one steerable (standard) driving wheel allows a robot to perform omnidirectional motions. However, the modeling and control of such robots is challenging since the system is non-holonomic, nonlinear and typically over actuated. Moreover, such platforms exhibit kinematic singular…