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eess.SY2024
Iterative Learning Control with Mismatch Compensation for Residual Vibration Suppression in Delta Robots
Mingkun Wu, Alisa Rupenyan, Burkhard Corves
Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve…
eess.SY2024
Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints
Mingkun Wu, Alisa Rupenyan, Burkhard Corves
Singularities, manifesting as special configuration states, deteriorate robot performance and may even lead to a loss of control over the system. This paper addresses the kinematic…