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检索条件"机构=Institute of System Dynamics and Control at the Robotics and Mechatronics Center"
55 条 记 录,以下是31-40 订阅
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Qualification of the MMX Rover Locomotion Subsystem for the Martian Moon Phobos
Qualification of the MMX Rover Locomotion Subsystem for the ...
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IEEE Conference on Aerospace
作者: Stefan Barthelmes Ralph Bayer Wieland Bertleff Markus Bihler Fabian Buse Maxime Chalon Günther Geyer Franz Hacker Cynthia Hofmann Roman Holderried Alexander Kolb Erich Krämer Viktor Langofer Roy Lichtenheldt Sascha Moser André Fonseca Prince Kaname Sasaki Hans-Jürgen Sedlmayr Juliane Skibbe Bernhard Vodermayer German Aerospace Center (DLR) Institute of System Dynamics and Control Weßling German Aerospace Center (DLR) Institute of Robotics and Mechatronics Weßling German Aerospace Center (DLR) Institute of Space Systems Bremen
Planetary rovers have proven their function and value for the Earth moon as well as Mars in the past decades. While these celestial bodies have a gravity of the same order of magnitude as the Earth, wheeled locomotion... 详细信息
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Periodic disturbance rejection of a PMSM with adaptive control algorithms
Periodic disturbance rejection of a PMSM with adaptive contr...
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IEEE International Conference on Electric Machines and Drives (IEMDC)
作者: Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center Wessling Germany Department of Electrical and Computer Engineering University of Utah Salt Lake UT USA
Permanent magnet synchronous motors (PMSMs) produce a parasitic oscillating torque due to several reasons. This contribution cancels the oscillating torque with adaptive control algorithms. Therefore a mathematical mo... 详细信息
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Spatio-temporal prediction of collision candidates for static and dynamic objects in monocular image sequences
Spatio-temporal prediction of collision candidates for stati...
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IEEE Symposium on Intelligent Vehicle
作者: Alexander Schaub Darius Burschka Institute of System Dynamics and Control at the Robotics and Mechatronics Center German Aerospace Center Wessling Germany Department of Computer Science Technische Universität München Garching bei Munchen Germany
This paper presents a novel approach for reactive obstacle avoidance for static and dynamic objects using monocular image sequences. A sparse motion field is calculated by tracking point features using the Kanade-Luca... 详细信息
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A passivity based Cartesian impedance controller for flexible joint robots - part I: torque feedback and gravity compensation
A passivity based Cartesian impedance controller for flexibl...
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IEEE International Conference on robotics and Automation (ICRA)
作者: C. Ott A. Albu-Schaffer A. Kugi S. Stamigioli G. Hirzinger Institute of Robotics and Mechatronics German AerosPace Center (DLR) Germany Chair of System Theory and Automatic Control Saarland University Germany
In this paper a novel approach to the Cartesian impedance control problem for robots with flexible joints is presented. The proposed controller structure is based on simple physical considerations, which are motivatin... 详细信息
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Fast algorithms for solving H/sub /spl infin//-norm minimization problems
Fast algorithms for solving H/sub /spl infin//-norm minimiza...
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IEEE Conference on Decision and control
作者: A. Varga P. Parrilo Institute of Robotics and System Dynamics German Aerospace Center Wessling Germany Control and Dynamical Systems California Institute of Technology Pasadena CA USA
We propose an efficient computational approach to minimize the H/sub /spl infin//-norm of a transfer-function matrix depending affinely on a set of free parameters. The minimization problem, formulated as a semi-infin... 详细信息
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IMMUNE project: An overview
IMMUNE project: An overview
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18th IFAC Symposium on Automatic control in Aerospace, ACA 2010
作者: Döll, C. Hardier, G. Varga, A. Kappenberger, C. ONERA French Aerospace Lab. System Control and Flight Dynamics Department BP 74025 F-31055 Toulouse Cedex 4 France DLR German Aerospace Center Robotics and Mechatronics Department Münchner Str. 20 D-82234 Weßling Germany DLR German Aerospace Center Flight Systems Department Lilienthalplatz 7 D-38108 Braunschweig Germany
The IMMUNE project (Intelligent Monitoring and Managing of UNexpected Events) focuses on basic research regarding event monitoring and event tolerant control. Event detection methods and control law reconfiguration ap... 详细信息
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control of a Class of Underactuated systems by Successive Submanifold Stabilization ⁎
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IFAC-PapersOnLine 2021年 第19期54卷 352-358页
作者: Fabian Beck Noboru Sakamoto Christian Ott Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan
Many control design methods for underactuated systems require solving a partial differential equation, which can be complex for systems with many degrees of freedom. In order to reduce the complexity, it is proposed t... 详细信息
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Multi-Objective control of Balancing systems for Li-Ion Battery Packs: A Paradigm Shift?
Multi-Objective Control of Balancing Systems for Li-Ion Batt...
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IEEE Conference on Vehicle Power and Propulsion (VPPC)
作者: Jorge V. Barreras Claudio Pinto Ricardo de Castro Erik Schaltz Soren J. Andreasen Rui Esteves Araujo Department of Energy Technology Aalborg University Aalborg Denmark INESC TEC (formerly INESC Porto) and Faculty of Engineering University of Porto Porto Portugal Institute of System Dynamics and Control Robotics and Mechatronics Center German Aerospace Center (DLR) Wessling Germany
While a great number of battery balancing circuit topologies have been proposed, the unique control objective typically pursued is equalization of single cell charge. However, a balancing circuit could offer potential... 详细信息
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Gearbox Ripple Rejection of Robots Using Observer and Adaptive control Theory
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IFAC Proceedings Volumes 2011年 第1期44卷 893-898页
作者: Sebastian Maier Johann Bals Marc Bodson Department of System Dynamics and Control Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Muenchner Str. 20 Department of Electrical and Computer Engineering University of Utah 50 S Central Campus Dr. Salt Lake City UT 84112 USA
Abstract Robots are often run with permanent magnet synchronous motors (PMSM) with a high ratio gearbox. Both parts can produce parasitic oscillations (ripples), which let the robot shake at tool center point. The gea...
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Optimal Stabilization of Periodic Orbits
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IFAC-PapersOnLine 2023年 第2期56卷 7509-7515页
作者: Fabian Beck Noboru Sakamoto Institute of Robotics and Mechatronics German Aerospace Center (DLR) 82234 Wessling Germany Department of Mechanical Engineering and System Control Nanzan University Yamzato-cho 18 Showa-ku Nagoya 466-8673 Japan
In this contribution the optimal stabilization problem of periodic orbits is studied in a symplectic geometry setting. For this, the stable manifold theory for the point stabilization case is generalized to the case o... 详细信息
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