2 papers
math.OC2025
On robotic manipulators with time-dependent inertial parameters: From physical consistency to boundedness of the mass matrix
Tom Kaufmann, Johann Reger
We generalize the robotics equation describing the dynamics of open kinematic chains by including the effect of time-dependent change of inertial parameters as well as the effects…
eess.SY2023
Minimizing the Homogeneous -Gain of Homogeneous Differentiators
Benjamin Voß, Jaime A. Moreno, Johann Reger
The differentiation of noisy signals using the family of homogeneous differentiators is considered. It includes the high-gain (linear) as well as robust exact (discontinuous) diffe…