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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 discusses flatness-based control approaches to reduce oscillations on the load side of mechanical motion systems. Choosing a suitable trajectory is one essential step in implementing a flatness-based control. Existing approaches use slow polynomials or mathematically complex Gevrey-functions to achieve the necessary differentiability. Our approach combines the oscillation reduction of flatness-based...
Bone-attached robots and so-called microstereo-tactic frames are attracting increasing interest in the field of robot-assisted surgery due to the promising targeting accuracy they provide. The authors propose a passive Stewart-Gough platform which is attached to a patient's head via bone anchors. It serves as an instrument guidance in straight line incisions, such as minimally invasive cochlear implantation...
In this paper experimental results are presented to compare the performance of kinematically redundant parallel robots with respect to their non-redundant counterparts. The main purpose is to validate existing simulated, i.e. claimed, findings demonstrating the advantages of kinematic redundancy in terms of singularity avoidance and, therefore, accuracy and precision. Exemplarily, the kinematically...
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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