Path-Following Control with Path and Orientation Snap-In
Christian Hartl-Nesic,Elias Pritzi,Andreas Kugi,Christian Hartl-Nesic,Elias Pritzi,Andreas Kugi
Robots need to be as simple to use as tools in a workshop and allow non-experts to program, modify and execute tasks. In particular for repetitive tasks in high-mix/low-volume production, robotic support and physical human-robot interaction (pHRI) help to significantly increase productivity. In path-following control (PFC), the geometric description of the path is decoupled from the time evolution...
