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This paper presents a universal method to reduce vibration and contouring errors of complex, nonlinear robotic systems during dynamic motions. The proposed method is based on differential flatness and is valid for serial and parallel robots. System-specific trajectories for motor position, velocity, and torque are generated online with minimized computational effort. Hereby, compliance and friction...
This paper presents new comparative results from two advanced feedforward control methods for rapid movements of parallel robots with minimum vibration, in terms of their practical application. First, a flatness-based approach is described, to generate system-specific motion profiles and computed torque for nonlinear, mechanically coupled multi-body systems. Hereby, vibration related system properties...
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