In order to guarantee save interaction of robots with the environment and to ensure mechanical robustness, one of the key technical properties of robotic systems is physical compliance of the actuation systems. This is mostly achieved by a highly elastic element decoupling the link from the motor. The flexible elements cause a partially undesired vibration dynamics in the robotic structure when excited with harmonic torque on the link sides. The aim of this thesis is to analyze and to reduce oscillations through optimally chosen settings of the controller. To achieve that, we focus on two control approaches, namely Elastic Structure Preserving Impedance (ESpi) and Visco-Elastic Structure Preserving Impedance (VESpi) controller developed by ...
Dizertační práce se zabývá modelováním ohybového kmitání rotorů turbodmychadel uložených v kluzných ...
The trend of the technical development tends to the production of machines with higher output and ...
Lehké konstrukce jsou stále časteji instalovány v leteckém a automobilovém prumyslu, kde jsou stimul...
Face à l’augmentation des exigences à la fois économiques et de santé publique, les industriels sont...
This work deals with the automatic control of an active vibration damping system . The basic mechan...
The acoustic behavior of electric drive systems is one of the main comfort criteria of electromobili...
Les travaux effectués durant cette thèse portent sur l’étude du comportement mécanique dynamique de ...
This work presents the main outcomes of the design of LUKAS, a robot in the RoboCup Small Size Leag...
AbstractThis paper builds up an accurate nonlinear mathematical model of an electro hydraulic force/...
AbstractThe influence of passive joint on the dynamics of planar flexible underactuated manipulators...
The problem of stabilization resonant oscillation of mechanical system excited by unbalanced rotor o...
Boosted by the increasing interest of industries such as automotive, 100% electric engine technologi...
Several scenarios, such as disaster response or terrestrial and extra-terrestrial exploration, compr...
In many applications, the use of slender and light flexible structures has increased due to the requ...
Parametricexcitationcanusuallybeseeninthelargemechanicalstructurecausingunwanted resonances when the...
Dizertační práce se zabývá modelováním ohybového kmitání rotorů turbodmychadel uložených v kluzných ...
The trend of the technical development tends to the production of machines with higher output and ...
Lehké konstrukce jsou stále časteji instalovány v leteckém a automobilovém prumyslu, kde jsou stimul...
Face à l’augmentation des exigences à la fois économiques et de santé publique, les industriels sont...
This work deals with the automatic control of an active vibration damping system . The basic mechan...
The acoustic behavior of electric drive systems is one of the main comfort criteria of electromobili...
Les travaux effectués durant cette thèse portent sur l’étude du comportement mécanique dynamique de ...
This work presents the main outcomes of the design of LUKAS, a robot in the RoboCup Small Size Leag...
AbstractThis paper builds up an accurate nonlinear mathematical model of an electro hydraulic force/...
AbstractThe influence of passive joint on the dynamics of planar flexible underactuated manipulators...
The problem of stabilization resonant oscillation of mechanical system excited by unbalanced rotor o...
Boosted by the increasing interest of industries such as automotive, 100% electric engine technologi...
Several scenarios, such as disaster response or terrestrial and extra-terrestrial exploration, compr...
In many applications, the use of slender and light flexible structures has increased due to the requ...
Parametricexcitationcanusuallybeseeninthelargemechanicalstructurecausingunwanted resonances when the...
Dizertační práce se zabývá modelováním ohybového kmitání rotorů turbodmychadel uložených v kluzných ...
The trend of the technical development tends to the production of machines with higher output and ...
Lehké konstrukce jsou stále časteji instalovány v leteckém a automobilovém prumyslu, kde jsou stimul...