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Snake-like robots allow to perform examination tasks of difficultly accessible areas. In this context a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. Because of the electromagnetic actuation principle, the system provides good path following capabilities in combination with high resistance against manipulation forces. An efficient and...
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 a new university course combining theoretical lectures with a robot competition. The main intention is to offer a practical course including hands-on experiences being close to current research topics in the field of mobile robotics. For this purpose, a commercial mobile robot is equipped with state of the art sensors, allowing autonomous execution of manipulation tasks. The course...
In this paper five different optimization strategies for kinematically redundant mechanisms, i.e. mechanisms having additional actuator(s) in at least one kinematic chain, are presented. They are based on two main approaches, a discrete optimization and a classical continuous optimization. Exemplarily, a planar, kinematically redundant 3RRR-based mechanism is introduced. The position of its redundant...
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