Search Results - "Schwegel, Michael"
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Mechatronic design of a class of planar cable-driven parallel robots
Published in Mechatronics (Oxford) (01-10-2023)“…In this paper, a novel class of planar cable-driven parallel robots is discussed. The design allows an arbitrary rotation of the end effector by wrapping the…”
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Continuous-time least-squares forgetting algorithms for indirect adaptive control
Published in European journal of control (01-11-2021)“…Many variants of least-squares forgetting algorithms can be found in the literature. They all have advantages and disadvantages with respect to adaptation…”
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Adaptive Two-Degrees-of-Freedom Current Control for Solenoids: Theoretical Investigation and Practical Application
Published in IEEE transactions on control systems technology (01-05-2023)“…In this article, an adaptive two-degrees-of-freedom current control algorithm for solenoids is presented comprising an adaptive pole placement controller in…”
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Integrate-and-Reset Feedback and Feedforward for a Solenoid With Unknown Parameters
Published in IEEE control systems letters (2024)“…We propose a hybrid feedback-feedforward control scheme for output current tracking in a solenoid, based on an integrate-and-reset paradigm. The feedback,…”
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A Simple Computationally Efficient Path ILC for Industrial Robotic Manipulators
Published in 2024 IEEE International Conference on Robotics and Automation (ICRA) (13-05-2024)“…In this paper, a numerically efficient flexible control scheme for the absolute accuracy of industrial robots is presented and experimentally validated. A…”
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Conference Proceeding -
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Sampling-Based Trajectory (re)planning for Differentially Flat Systems: Application to a 3D Gantry Crane
Published 26-03-2023“…IFAC-PapersOnLine Volume 55, Issue 38, 2022, Pages 33-40 In this paper, a sampling-based trajectory planning algorithm for a laboratory-scale 3D gantry crane…”
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Machine Learning-based Framework for Optimally Solving the Analytical Inverse Kinematics for Redundant Manipulators
Published 26-03-2023“…Mechatronics Volume 91, May 2023, 102970 Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in…”
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