Browsing NTNU Open by Author "Kolyubin, Sergey"
Now showing items 1-6 of 6
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An Iterative Algorithm of Adaptive Output Controlwith Complete Compensation for Unknown Sinusoidal Disturbance
Pyrkin, Anton; Bobtsov, Alexey; Kremlev, Artem; Kolyubin, Sergey (Peer reviewed; Journal article, 2012)The problem is considered for the output control of a linear, parametrically indeterminate object subjected to the effect of an external unknown, sinusoidal disturbing influence. The solution of this problem is found in ... -
Consistent kinematics and dynamics calibration of lightweight redundant industrial manipulators
Kolyubin, Sergey; Shiriaev, Anton; Jubien, Anthony (Journal article; Peer reviewed, 2018)Absolute accuracy is one of industrial manipulator’s key performance characteristics, which is critical for emerging robotics applications such as laser cutting, riveting, and carbon fiber placement as well as for many ... -
On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers
Pchelkin, Stepan; Shiriaev, Anton; Robertsson, Anders; Freidovich, Leonid B.; Kolyubin, Sergey; Paramonov, Leonid; Gusev, Sergey (Journal article; Peer reviewed, 2017)Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of ... -
Refining Dynamics Identification for Co-Bots: Case Study on KUKA LWR4+
Kolyubin, Sergey; Shiriaev, Anton; Jubien, Anthony (Journal article; Peer reviewed, 2017)This paper presents an attempt to improve dynamic identification procedure for robotic manipulators, such that obtained models are appropriate for trajectory planning and motion control. In addition to algorithms development, ... -
Rejection of Sinusoidal Disturbance Approach Based on High-Gain Principle
Pyrkin, Anton; Bobtsov, Alexey; Kolyubin, Sergey (Journal article; Peer reviewed, 2012)This paper deals with the output stabilization of linear systems with unknown parameters and sinusoidal disturbance. The approach is based on a hybrid algorithm of frequency estimation, that is used for compensation of the ... -
Rejection of Sinusoidal Disturbance Approach Based on High-Gain Principle
Pyrkin, Anton; Bobtsov, Alexey; Kolyubin, Sergey (Proceedings;, Conference object; Journal article; Peer reviewed, 2012)This paper deals with the output stabilization of linear systems with unknown parameters and sinusoidal disturbance. The approach is based on a hybrid algorithm of frequency estimation, that is used for compensation of the ...