Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots

In this work, we address the problem of precise motion planning and control of flexible-link robots for throwing small objects. Thanks to lightweight materials and elastic bodies, flexible robots can perform fast motions with few actuators. However, they need a planning and control strategy capable...

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Vydáno v:	IEEE transactions on control systems technology Ročník 33; číslo 5; s. 1667 - 1683
Hlavní autoři:	Pierallini, Michele, Krishnan Muttathil Gopanunni, Ramesh, Angelini, Franco, Bicchi, Antonio, Garabini, Manolo
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.09.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Actuators Casting Dynamic programming Elastic bodies Elasticity Environmental monitoring Feedforward systems Fishing rods iterative learning control (ILC) Learning motion control Motion planning Parameter identification Payloads Planning Robot control Robot dynamics Robots Soft robotics Strategy Throwing Trajectory Uncertainty
ISSN:	1063-6536, 1558-0865
On-line přístup:	Získat plný text
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