Damping Ratio Prediction for Redundant Cartesian Impedance-Controlled Robots Using Machine Learning Techniques

Cartesian Impedance Control Techniques for Torque Controlled Light-Weight Robots

The paper compares various approaches to implementing a compliant Cartesian behavior for robotic manipulators: impedance, admittance and stiffness control. A new controller structure is proposed, which consists of an impedance controller enhanced by local stiffness control. This structure consistently takes into account the two time scale property of the joint and Cartesian control loops. The D...

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

Cartesian coordinate control for redundant modular robots

This paper is focused on the kinematic control of redundant modular robots for trajectory tracing. Based on the geometric numerical inverse kinematic algorithm developed for modular robots, a new online control method is presented. In this method, the inverse kinematic solution can be optimized through constructing a weighted matrix. Following this approach, some fundamental interpolation algor...

Gene Prediction Using Machine Learning Techniques

The basic purpose of the research work aims at predicting the genes of interest in molecular sequence databases using machine learning techniques like neural networks, decision trees, data mining, hidden markov models etc The primary focus of the research will be on proposing new or improving already existing ab initio and homology based methods for gene prediction. The proposed methods will be...

Cartesian impedance control of redundant robots: recent results with the DLR-light-weight-arms

This paper addresses the problem of impedance control for flexible joint robots based on a singular perturbation approach. Some aspects of the impedance controller, which turned out to be of high practical relevance during applications are then addressed, such as the implementation of nullspace stiffness for redundant manipulators, the avoiding of mass matrix decoupling and the related design o...