The next Doctoral Research Seminar is titled "Enhancing Fault-Tolerance in Actuation Failure: an Extended Operational Space Control Approach" by  Prof. Dr. Jinoh Lee, DLR

Actuation failure and fault-tolerant control have drawn more attention in accordance with the recent increasing demand for reliable robot control applications for long-term and remote operations. The emergence of control torque loss, i.e., the free-swinging failure, is particularly challenging when the robot performs dynamic operational space tasks due to complexities stemming from redundancies in the kinematic structure as well as a dynamical disturbance in the under-actuated multi-body system. In this talk, a dynamic analysis and control method will be introduced in line with the operational space formulation approach to address such a problem of under-actuated systems without constrained conditions, which has been overlooked yet encompasses a broader range of practical applications.

July 17th, 2023, 10:30 am - 11:30 am in room 2026, Karlstr. 45.