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 →
Control strategies for high-energy pulsed laser sources
Ultra-short laser pulses have become an essential and flexible tool with applications ranging from basic research to ablation-based material processing and eye surgery. The goal of our research activities is to enhance the performance of modern laser sources using control and system theoretic methods. 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 →
Digital Literacy in Robotics & Informatics – for underprivileged people2020 - 2021
A working group with interdisciplinary members from different partner universities will be constituted to make common barriers visible and propose improvements for gender-appropriate didactic concepts. Read more →
Modelling and optimal control of a linear motor2016 - 2020
The usage of linear motors in transport systems offers a variety of advantages in comparison to common conveyor belt transport systems. In this project, a high-dynamic operation of the system is studied based on a detailed model and an optimal control strategy. 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 →
Mathematical modelling, optimization and quality monitoring for side-trimming of heavy steel plates
Side-trimming is an essential processing step in the steel industry. In this research project, optimization and estimation strategies are developed to minimize common quality defects of the trimmed edges and to realize systematic quality monitoring of these edges. Read more →
Omron2016 - 2018
The purpose of this project is to develop a software for estimating 6D pose and grasping points of non-rigid objects in bin-picking scenarios. Read more →