2 papers
cs.RO2025
Simultaneous Stiffness and Trajectory Optimization for Energy Minimization of Pick-and-Place Tasks of SEA-Actuated Parallel Kinematic Manipulators
Thomas Kordik, Hubert Gattringer, Andreas Mueller
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinemati…
cs.RO2025
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
Andreas Mueller, Shivesh Kumar, Thomas Kordik
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics s…