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Abstract der Präsentation:

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Robot Control and Identification with Elastic Joints

My work focusses on trajectory tracking optimization for industrial robots with elastic joints. To this end, we developed an enhanced, differentiable model and a flatness-based feed forward control, as presented in the RCIM paper. During that work, we recognized that online parameter identification is a key component for an accurate, model-based feed forward control. So we developed an real-time, nonlinear identification method for the robot, currently submitted as paper and video to ICRA 2021 (still under review). Current and future work focusses on merging online identification with control, validating the performance of the overall system.