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Mold temperature is a decisive process parameter during vulcanization of rubber articles. Hence, ensuring a homogeneous temperature distribution over the entire mold surface throughout the curing process is a crucial requirement. Therefore, we present a model-based approach to analyze heat propagation within the mold and to design a controller for mold surface temperature. The thermal model of the...
Advanced driver assistance systems in modern vehicles have gained interest in the past decades. Most of these systems rely decisively on knowledge of the vehicle's state and influential parameters. Due to changing system or environmental conditions the functionality of these systems may lead to decreased performance or even failure. Especially, the road condition, represented by the maximum friction...
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...
A novel observer for state, parameter and process covariance estimation is presented in this paper. The new observer estimates system states using a Square-Root Unscented Kalman Filter (SRUKF) and by employing the Recursive Prediction-Error (RPE) method, unknown parameters and covariances are identified online. Two experimental applications based on an underactuated planar robot are included to demonstrate...
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