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 →

Time-optimal fold-out of a mobile concrete pump

The autonomous operation of large-scale construction machines is of growing interest in the recent years. The goal of this project is to develop and experimentally validate a trajectory planning strategy, which allows to obtain time-optimal trajectories for the boom of a mobile concrete pump, considering several previously known obstacles in the working area. 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 →

Optimization-based control methods applied to a laboratory-scale tower crane

Tower cranes are widely-used and constitute an interesting field of application for modern control theory. An important task is to control the position of the hook by suppressing the oscillating motion of the cable at the same time. Another possible goal is the rejection of disturbances such as different load masses or external forces induced by wind. Different control concepts are developed to cope with these and further goals. The resulting controllers are tested on a laboratory tower crane. The focus lies on optimization-based control methods, in particular model predictive control (MPC). Read more →

Hol-I-Wood PR

The correction of natural wood defects, such as resin galls or loose dead knots, interrupts the automatized production flow in timber industry. The human workforce is key for detection and classification of wood defects as well as for their correction. The project Hol-I-Wood PR aims at automatizing this monotone and laborious work. The resulting innovative "wood patching"-plant is going to be integrated into the shutter board production line of our partner company. Read more →

Automated Handling of Highly Deformable Materials

In this project, a prototype of a handling system is set up and the potential of modern model-based control to handle limp materials is examined. The concepts are applicable to many other issues, such as the automated lamination of large vinyl sheets, textile handling, etc. Read more →