Article

Feedforward payload generalization method for trajectory tracking in robots with rigid and elastic joints

This paper proposes a new method for generalizing feedforward control actions with respect to payload parameters, independent of the underlying controller; given only the parameters of a new payload, it can execute the same trajectory without knowledge of the robot's dynamic model and even in the presence of elastic joints.

Part of the event: Proposes a feedforward payload generalization method for rigid and elastic-joint robots

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