Titlebook: Human-Friendly Robotics 2023; HFR: 16th Internatio Cristina Piazza,Patricia Capsi-Morales,Hinrich Sch Conference proceedings 2024 The Edito

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,Joint Position Bounds in?Resolved-Acceleration Control: A Comparison,e State-of-the-Art methods, namely the ., the ., and .. Finally, we select the most performing one applied in a real use case based on a UR5e manipulator for a picking task where hitting joint limits may represent an issue.

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,Task Space Control of?Hydraulic Construction Machines Using Reinforcement Learning,draulic construction machine, Brokk 170, serves as the platform for implementing the proposed approach. Through a series of experiments, the framework’s validity is established by comparing it against a well-established Jacobian-based approach.

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,Smooth Real-Time Motion Planning Based on?a?Cascade Dual-Quaternion Screw-Geometry MPC,atic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.