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disturbancefittingsimulink

Code for the paper Feedforward Tuning by Fitting Iterative Learning Control Signal for Precision Motion Systems

drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. Please see the WIKI for documentation.

drake-iiwa-driver

dual-arm-robot-force-controlled-object-manipulation

This Repository is the complete workspace of a project that realizes force-controlled object manipulation with a dual-arm-robot (UR5 and UR10)

dual_arm_manipulation

This is a dual-arm manipulation project with two UR5.

dual_arm_ur5

easy_profiler

Lightweight profiler library for c++

efficient-trajectory-optimization-for-robot-motion-planning--examples

Examples of efficient trajectory optimization for robot motion planning

fcl

Flexible Collision Library

firm-matlab

FIRM Toolbox for MATLAB

flatbuffers

Memory Efficient Serialization Library

footstep-planning-of-walking-robots-project

Research project

force_tracking

Polishing experiments

formation_consensus_basic

A basic version for robot formation consensus and obstacle avoidance by MATLAB

forward-and-inverse-kinematics-of-n-link-serial-manipulator

Matlab code for Forward and Inverse Kinematics of n-link serial manipulator

frontier_exploration

ROS Node and Costmap 2D plugin layer for frontier exploration

fse18

artifacts track, FSE'18: https://2018.fseconference.org/home

fuzzy-logic

Mobile robot simulation using VRep and Matlab's Fuzzy Logic toolbox

fuzzy-mobile-robot-control

Mamdani Fuzzy Rule Base has been used to control a robot motion control in an arena. The robot has to meet goals in a sequential order. The motion is tested for 5 scenarios with goals from 1-5 respectively.

fuzzy-qlearning-robot

A Fuzzy Q Learning Controler Implementation for Mobile Robot

gotribus

Providing a website that gives users the ability to review various print, photographic, graphic image, and audio and video content and utilize a custom template to provide input, likes, dislikes, edits, changes, modifications, opinions, suggestions, and comments and engage in social, business and community networking; online social networking services provided through a community website

grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

gym

A toolkit for developing and comparing reinforcement learning algorithms.

handeye_calib_camodocal

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.

hector_dynamixel_ros_control_wrapper

hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).

husky

Common packages for the Clearpath Husky

hybrid_fuzzy_kalman_filter

Mixed Kalman-Fuzzy Sliding Mode State Observer in Disturbance Rejection Control of a Vibrating Smart Structure Atta Oveisi*1, Tamara Nestorović1 ​1Ruhr-Universität Bochum, Mechanik adaptiver Systeme, Institut Computational Engineering, D-44801, Bochum, Germany. E-Mail: [email protected] ABSTRACT In the controllers that are synthesized on a nominal model of the nonlinear plant, the parametric matched uncertainties and nonlinear/unmodeled dynamics of high order nature can significantly affect the performance of the closed-loop system. In this note, owing to the robust character of the sliding mode observer against modeling perturbations, measurement noise, and unknown disturbances and due to the non-fragile behavior of the Kalman filter against process noise, a mixed Kalman sliding mode state-observer is proposed and later enhanced by the addition of an intelligent fuzzy agent. In light of the proposed technique, the chattering phenomena and the conservative boundary neighboring layer of the high gain sliding mode observer are addressed. Then, a robust active disturbance rejection controller is developed by using static feedback of the estimated states using direct Lyapunov quadratic stability Theorem. The reduced order plant for control design purposes is subjected to some simulated square-integrable disturbances and is assumed to have mismatch uncertainties in system matrices. Finally, the robust performance of the closed-loop scheme with respect to the mentioned perturbation signals and modeling imperfections is tested by implementing the control system on a mechanical vibrating smart cantilever beam. Keywords: Fuzzy system; Nonlinear control; Active disturbance rejection; Kalman Filter; Vibration suppression.

hyq-description

This package contains the description (mechanical, kinematic, visual, etc.) of the different HyQ robots. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

hyq2max-description

This package contains the description (mechanical, kinematic, visual, etc.) of the different HyQ2Max robot. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.