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In industrial automation, a huge number of motion systems are in use. Unfortunately, the manual tuning of controllers for these motion systems is a time consuming process. Assuming a basic system model is available, the manual tuning can be replaced by an automated tuning process. Based on the system model, performance requirements are formulated in frequency and time domain and are combined into...
We present a new variable curvature continuum kinematics for multisection continuum robots with arbitrarily shaped backbone curves assembled from sections with three degrees of freedom (DoFs) (spatial bending and extension, no torsion). For these robots, the forward kinematics and the differential forward kinematics are derived. The proposed model approach is capable of reproducing both the constant...
A trajectory tracking control was developed for a new generation of fire turntable ladders with an additional joint in the upper ladder part in order to reduce swaying of the moving cage because of the limited stiffness of the ladder set. Therefore, the arm elasticity, which is characterized by significant flexion and torsion, plays an important role in the design process, especially in the case of...
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