2 papers
cs.RO2022
Application of Stable Inversion to Flexible Manipulators Modeled by the ANCF
Svenja Drücker, Robert Seifried
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure…
math.OC2020
Tracking control for underactuated non-minimum phase multibody systems
Thomas Berger, Svenja Drücker, Lukas Lanza +2
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinema…