Description: 

  The video shows experimental results of the proposed feedforward minimum-time control with input and output constraints applied to a flexible joint device.
  A comparison is also presented for the same rest-to-rest transition obtained applying inversion-based feedforward control using "transition polynomials".
  Experimental results show the effectiveness of the proposed approach.


Player information:

  The video has been successfully played by the following player:
  
  - Windows Media Player version 10.00.00.4036

  DivX codec is required in order to correctly play the video.


Contact information:

  Oscar Gerelli  <gerelli@ce.unipr.it>
  Luca Consolini <lucac@ce.unipr.it>  

Attachment filename: 1524_VI.mpg (3674624 Bytes)