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Titel:

Energy Control for Complex Pendulums based on Tracking of Online Computed Force Trajectories

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Christange, Franz; Donner, Philine; Buss, Martin
Abstract:
In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating the intended oscillation as a simple pendulum oscillation, we can specify a desired force traject...     »
Kongress- / Buchtitel:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
Ausrichter der Konferenz:
IEEE
Datum der Konferenz:
May 26th - 30th, 2015
Verlagsort:
Seattle, Washington, USA
Jahr:
2015
WWW:
http://www.shrine-project.eu/userfiles/downloads/christange_ICRA15_final.pdf
Semester:
SS 15
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