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Jörg Mareczek

dblp:16/124 · DBLP profile ↗
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2ranked-venue papers
1as first author
1since 2021 · last 2023
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 2 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 92% Robot manipulation · 8%

Topics — the 5 heaviest of 6, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control
robot control		 0.011998
Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1 · ICRA 1998
Robotics › Motion planning and robot control › robot control › robust control
robust stabilization		 0.011998
Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1 · ICRA 1998
Robotics › Motion planning and robot control › robot control › hybrid control
switching control		 0.011998
Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1 · ICRA 1998
Robotics › Robot manipulation
robot manipulator		 0.011998
Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1 · ICRA 1998
Robotics › Motion planning and robot control › underactuated robotics
underactuated manipulator		 0.011998
Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1 · ICRA 1998

Methods — techniques the papers use, named apart from their topics

non-collocated linearization · 0.0PD control · 0.0
YearPublicationVenuePosition
2023 Preliminary Results on Controllability of Serial Robot-Manipulators in Singular Configurations
Mir Mamunuzzaman, Jörg Mareczek
 ICINCO (1)2
1998 Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1
abstract
In this paper a switching control strategy for robust stabilization of the 2nd-order nonholonomic 2-DOF SCARA robot R2D1 is presented. The first joint is actuated by a direct drive motor, whereas the second joint is equipped with a brake. The unactuated second joint is controlled by non-collocated linearization and a PD-controller. A stability region is derived and robustness is achieved by exploiting the contractive character of the perturbed stability region. The proposed switching control strategy assures global and robust position control of the second joint. Experimental results confirm the efficiency of the proposed approach.
Jörg Mareczek, Martin Buss, Günther Schmidt 0001
 ICRA1