Pf Paul Lambrechts

An observer-controller combination for a unicycle mobile robot

This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot.

Model-based feedforward for motion systems

This paper considers model-based feedforward for motion systems. The proposed feedforward controller consists of an acceleration feedforward part and an inverse dynamics model of flexible modes. Based on analysis and H/sub /spl infin// model-based feedforward design, the inverse dynamics can be restricted to a second order filter in the form of a skew notch even if the motion system has more parasitic modes. The benefit of this is an on-line tuning possibility. Tracking errors and settling times can be reduced significantly compared to acceleration feedforward.

Analytical and Experimental Modelling for Gain-Scheduling of a Double Scara Robot

A method and system for operating a questionnaire. One embodiment of the method comprises the steps of providing a plurality of questions, associating at least one condition with each of at least some of the questions, and storing each of the questions in an associated computer file. For each of said some of the questions, the at least one condition associated with the question is stored in the same computer file in which the question is stored. In accordance with this method, satisfied conditions are identified, the stored conditions are parsed and questions whose associated conditions are all satisfied, are identified, and the identified questions are presented to a respondent.