Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Approximation Algorithms for Pick-and-Place Robots

In this paper we study the problem of finding placement tours for pick-and-place robots, also known as the printed circuit board assembly problem with m positions on a board, n bins containing m components and n locations for the bins. In the standard model where the working time of the robot is proportional to the distances travelled, the general problem appears as a combination of the travell...

Energy Efficient Actuation with Variable Stiffness Actuators

Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, various control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been show...

Energy Efficient Variable Stiffness Actuators: Conceptual Design and Implementation

Analysis and Control of Variable Stiffness Robots

This dissertation addresses the analysis and control of variable stiffness actuated robots aiming at precise, sensitive, robust, and dynamic interaction with their environment and especially humans. The focus is the adjustment of impedance properties, namely adjusting the robot equilibrium position, the stiffness, and damping. Highest demands are met by the development of new control concepts a...

Intelligent Control for the Variable-Speed Variable-Pitch Wind Energy System

In this paper, a new type of multi-variable compensation control method for the wind energy conversion systems (WECS) is presented. Based on wind energy conversion systems, combining artificial neural network (ANN) control and PID, a new type of PID NN intelligent controller for steady state torque of the wind generator is designed, by which the steady state torque output is regulated to track ...