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In co-worker scenarios, flexibility by allowing for changes in kinematic configuration, e.g. through application of new tools or new degrees of freedom in re-configurable robots, is highly desirable. Current industrial practice requires costly and tedious reprogramming by experts. To facilitate and speed up this inefficient...
[Last edited
Jan 25, 2012
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During December 2011 and January 2012 the optimal control problem formulation was extended and an optimized motion was successfully transferred onto the KUKA robot arm. The demonstrator was changed to better match the workspace of the robot. Furthermore, there was an exchange of PhD students between Heidelberg University and...
[Last edited
Jun 22, 2012
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