Selected Projects
Selected projects are briefly summarized below. For a complete overview of all projects in the research field Industrial Robotics, please refer to the list of research projects.
Fast trajectory planning for robotic systems in the presence of obstacles and dynamically moving targets
This research addresses the development of new methods for fast path planning in presence of obstacles and dynamically moving targets. Simulations and experiments are shown for a lab-sized cantry crane. Read more →
Optimal TCP and Robot Base Placement for Complex Continuous Paths
In this work, the optimal tool geometry for a predefined end-effector path is derived for an industrial robot. Read more →
Observer-based Iterative Learning Control to Improve Path Accuracy of Industrial Robots2018 - 2021
For robotic machining tasks, path accuracy is an essential performance criterion. Due to varying friction, non-constant transmission ratio of the gears and variable stiffness of the robot axes, path deviations occur in industrial robots, which have to be compensated for high-precision processes. In the course of the project, suitable robot models, observer and control strategies are to be designed with which the growing accuracy requirements in industrial manufacturing processes can be achieved. Read more →
Application of Curved Tapes on 3D Objects
This project presents a flexible approach for impedance-controlled wrinkle-free application of (curved) pre-cut adhesive tapes on freeform 3D surfaces. Read more →