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Model-based Controller Design for a Knuckle Boom Crane

Model-based Controller Design for a Knuckle Boom Crane

This paper proposes a predictive anti-sway control (ASC) scheme at kinematic level for a knuckle boom crane. Model predictive control (MPC) allows to consider dynamic limitations imposed by the crane's structure during payload stabilization. Operability of the derived control scheme is demonstrated for an initial load-deflection using a robot-based test setup.

Publication on ieeexplore.ieee.org

Published Papers

Control of Delayed Bilateral Teleoperation System for Robotic Tele-Echography

Control of Delayed Bilateral Teleoperation System for Robotic Tele-Echography

This paper describes the development of a controller for a bilateral robotic system for tele-echography with delayed communications. The problems are solved using a novel approach to bilateral teleoperation control, based on a complete parameterization of feasible teleoperators. Experimental results show the potential of the proposed control method.

Publication on ieeexplore.ieee.org

Published Papers

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

Real-Time Learning of Efficient Lift Generation on a Dynamically Scaled Flapping Wing

This work presents a successful application of a policy search algorithm to a real-time robotic learning problem, where the goal is to maximize the efficiency of lift generation on a dynamically scaled flapping robotic wing. Learning is performed for different prescribed stroke amplitudes to find the optimal wing pitching amplitude and the stroke-pitch phase difference that maximize lift generation's power loading (PL), a measure of aerodynamic efficiency.

Publication on ieeexplore.ieee.org

Published Papers

Experimental Study on a Nonlinear Observer Application for a Flexible Parallel Robot

Experimental Study on a Nonlinear Observer Application for a Flexible Parallel Robot

A flexible robot in lambda configuration has been modeled and built-in hardware. The elastic deformation of the flexible bodies is designed based on the high gain observer method and experimentally tested on the lambda robot to estimate the end-effector positions. It shows high accuracy in real-time even for the highly flexible parallel robot.

Publication on springer.com

Published Papers

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

Flexible manufacturing environments can adapt to tasks daily or hourly. The classic approach to automation is less suitable here; buying a dedicated robot for each set of tasks is inefficient, and coding each task is very time-consuming. The authors introduce a framework for modular robots that determines their structure and program based on human demonstrations to solve these problems.

Publication on ieeexplore.ieee.org

Published Papers

Mechatronic Architecture Development of UX-1

Mechatronic Architecture Development of UX-1

This paper presents a novel design of an underwater robot for exploring abandoned mines. Rapid prototyping of controllers during the development phase of the robot is described, and the mechatronic development of the main controller unit, propulsion system, and ballast is investigated. The robot's mechatronic architecture and the low-level control algorithms demonstrate its potential for performing real-time operations.

Publication on ieeexplore.ieee.org

Published Papers

Rapid Control Prototyping

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