Simple linear joint controllers are still used in typical industrial robotic systems. The use of these controllers leads to non-negligible dynamic path deviations for applications that require high path accuracy. These deviations result from the strong influence of nonlinearities, such as multi-body dynamics and gear friction. Sophisticated nonlinear control algorithms, known from the literatur...

The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of manipulator test-pose and referred to the end-effector location accuracy after application of the error compensation algorithm, which implements the identified par...

We present a novel robot programming methodology that is aimed at reducing the level of robotics expert knowledge needed to operate industrial robotic systems by explicitly modeling this knowledge and abstracting it from the user. Most of the current robot programming paradigms are either user-centric and fully-specify the robot’s task to the lowest detail (used mostly in large industrial robot...

1. BASTIDAS-CRUZ A., HEIMANN O., HANINGER K., KRÜGER J., 2020, Information Requirements and Interfaces for the Programming of Robots in Flexible Manufacturing, Annals Scientific Society Assembly, Handling Industrial Robotics, 183–192. Google Scholar

This paper discusses experimental robot identification based on a statistical framework. It presents a new approach toward the design of optimal robot excitation trajectories, and formulates the maximum-likelihood estimation of dynamic robot model parameters. The differences between the new design approach and the existing approaches lie in the parameterization of the excitation trajectory and ...

In order to survive in the present day global competitive environment, it now becomes essential for the manufacturing organizations to take prompt and correct decisions regarding effective use of their scarce resources. Various multi-criteria decision-making (MCDM) methods are now available to help those organizations in choosing the best decisive course of actions. In this paper, the applicabi...