21 to 27 of 27 Results
Mar 17, 2023 - SliMoReK Dataverse
Hinze, Christoph, 2023, "Replication Data for: Increasing the Dynamic Accuracy of Ball Screw Drives with Quasi-Sliding-Mode (qSMC) Position Control", https://doi.org/10.18419/DARUS-3292, DaRUS, V1
To increase the dynamics of ball screw drives, a nonlinear position controller, based on sliding-mode control, is presented together with its parameterization for robust stability. The controller is validated experimentally on a ball screw axis and shown increase the controller bandwidth from 8 Hz to 15.9 Hz in comparison to P position control with... |
Nov 3, 2022 - SliMoReK Dataverse
Hinze, Christoph; Zeh, Lukas, 2022, "Validation data for comparison of SMC-PI controllers vs. P-PI controller", https://doi.org/10.18419/DARUS-3152, DaRUS, V1
Experimental comparison for sliding mode position controllers vs. P position controller. Please refer to Readme.md contained in the dataset for more detailed information. SMC-like controllers are: Quasi SMC qSMC with sign(s)~s/(|s| + \epsilon), k_s = 1250, epsilon=5, varying gain lambda_q linear SMC-like Controller with varying gain lambda_l Two P... |
Nov 3, 2022 - SliMoReK Dataverse
Hinze, Christoph; Zeh, Lukas, 2022, "PI velocity controllers comparison", https://doi.org/10.18419/DARUS-3109, DaRUS, V1
The following PI-velocity controllers are compared (different parameterization methods), position control is off for all methods: Damping optimum Groß: kp=212, ki=106 Damping optimum Zirn: kp=229, ki=57 Disturbance optimum: kp=76, ki = 38 Symmetric Optimum: kp=149, ki=310 Extended Symmetric Optimum (Schröder2016, §3.2.2): kp=182.9, ki=46 H_inf: kp=... |
Nov 3, 2022 - SliMoReK Dataverse
Hinze, Christoph; Zeh, Lukas, 2022, "Identification data for plant and friction identification", https://doi.org/10.18419/DARUS-3003, DaRUS, V1
Dataset for identification of a ball screw setup. Please refer to Readme.md contained in the dataset for more detailed information. Stribeck fricton with constant velocities (const_v*.mat) Slow measurement along whole axis for synchronization errors (const_vel:*.mat) slow sine force motion for identification of friction, e.g. LuGre (F_mot_sine*.mat... |
Nov 2, 2022 - SliMoReK Dataverse
Hinze, Christoph, 2022, "Identification data for Linear Direct Drive Forces compensation", https://doi.org/10.18419/DARUS-2563, DaRUS, V1
Linear direct drive forces are identified for compensation, where a linear direct drive is mounted in parallel to a ball screw feed drive axis. Please refer to Readme.md contained in the dataset for more detailed information. Nut forces are measured via 4 parallel KISTLER force sensors in the nut. Total force is in `F_nut_sum`. Note, that the senso... |
Sep 14, 2021 - isw_kar_ puplication
Kaiser, Benjamin, 2021, "Replication data for: Planning of Curvature-Optimal Smooth Paths for Industrial Robots Using Neural Networks", https://doi.org/10.18419/DARUS-2126, DaRUS, V1, UNF:6:wNKYRgrs4Qt6BOHEvqTtyQ== [fileUNF]
This dataset contains curvature-optimal geometry parameters for linear-linear transitions for polynomial smoothing with polynomial splines 4th order. The data was generated by offline solving the optimization problem of curvature-optimal geometry parameters for corner smoothing, which is described in the related publication. Dataset_linlin.tab cont... |
Wnuk, Markus-Christian; Jaensch, Florian; Tomzik, David Adrian; Chen, Zixiao; Terfurth, Jonathan; Kandasamy, Sivakumar; Shahabi, Jalil; Garrett, Amy; Mahmoudinezhad, Masoumeh H.; Csiszar, Akos; Xu, Weiliang; Röhrle, Oliver; Verl, Alexander, 2020, "Supplemental Material for Case Study about Challenges in Soft Tissue Manipulation", https://doi.org/10.18419/DARUS-482, DaRUS, V1
Supplemental image and video material for the paper "Challenges in robotic soft tissue manipulation - Problem identification based on an interdisciplinary case study of a teleoperated drawing robot in practice" presented at the 2019 conference M2VIP. The presented results are the outcome of the 2019 summer school project within the International Re... |
