Research Staff: Christopher Reichert M.Eng.
Research Profile
- Kinematic, Simulation and Control of Cable-driven Parallel Robots
- Reconfiguration of Cable-driven Parallel Robots
- Generation of energy-optimal trajectory using passive elements
Working title of the dissertation
- Modeling and Control of Cable-driven Parallel Robots
Working title of the dissertation
- Application-oriented development of control concepts for the performance increase of rope-based manipulators
Final Thesis Work
- Topic of the Masters' thesis: "Contribution to the design of robust observer and controller structures for redundantly activated parallel kinematics"
- Topic of the Bachelors' thesis: "Implementation of a robust force-based impedance control for two cooperating linear manipulators for the application of highly dynamic gripping processes"
Awards
Teaching and Department Works
Current Research Projects
- Development of a shelf control unit on the basis of the Stewart-Gough platform: Within the BMBF-funded Efficiency Cluster LogisticsRuhr, a new type of shelf operating unit based on the rope-driven Stewart-Gough platform (rope robot) is being developed with the participation of major companies and suppliers in the field of intralogistics. (Video)
- CableBOT- Parallel Cable Robotics for Improving Maintenance and Logistics of Large-Scale Products: In this project, rope robot systems are being used to transport large components - supported by the EU in the 7th Framework Program.
Arbeitspakete:
- Cable distribution (Video)
- Contact force control (Video)
- Joystick control (Video)
- Reconfiguration (Video)
- Energy-optimal trajectories (Video)
Prototypes:
Open Graduation Works
- Design of an admittance regulation for the adjustment of contact forces
- Design of an automatic swing-up mechanism
- Design of an adaptive control algorithm with changing cable configuration
- Generation of energy-optimal trajectories
- Design and operation of a gimbal suspension
Puplications
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Energy Consumption Reduction of a Cable-Driven Storage and Retrieval SystemIn: Advances in Robot Kinematics 2018 / ARK 2018 ; July 1 - 5, 2018; Bologna, Italy / Lenarcic, Jadran; Parenti-Castelli, Vincenzo (Hrsg.) 2019, S. 383 - 391Online Volltext: dx.doi.org/
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Optimization of the geometry of a cable-driven storage and retrieval systemIn: Robotics and Mechatronics: Proceedings of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017) / IFToMM International Symposium on Robotics & Mechatronics ; ISRM 2017 ; Sydney, 29.11.-1.12.2017 / (Chunhui) Yang, Richard; Takeda, Yukio; Zhang, Chunwei; Fang, Gu (Hrsg.) 2019, S. 225 - 237Online Volltext: dx.doi.org/
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Virtual prototype of spatial redundantly constraint cable-driven parallel robot using object-oriented modeling principalIn: Proceedings of the IEEE 4th International Symposium on Robotics and Intelligent Sensors (IRIS 2016): Empowering Robots with Smart Sensors / 4th International Symposium on Robotics and Intelligent Sensors (IRIS 2016); Tokyo; Japan; 17 - 20 December 2016 2017, S. 73 - 79Online Volltext: dx.doi.org/
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Concept studies of automated construction using cable-driven parallel robotsIn: Cable-Driven Parallel Robots: Proceedings of the Third International Conference on Cable-Driven Parallel Robots / International Conference on Cable-Driven Parallel Robots ; Quebec City, 02.-04.08.2017 / Gosselin, Clément; Cardou, Philippe; Bruckmann, Tobias; Pott, Andreas (Hrsg.) 2017, S. 364 - 375Online Volltext: dx.doi.org/
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Automated construction of Masonry buildings using cable-driven parallel robotsIn: Proceedings of the 33rd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2016) / 33rd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2016); Auburn, USA; 18-21 July 2016 2017, S. 332 - 340Online Volltext: dx.doi.org/ (Open Access)
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Sensitivity analysis of the design parameters for the calibration of cable-driven parallel robotsIn: Proceedings in Applied Mathematics and Mechanics (PAMM) Jg. 16 (2016) Nr. 1, S. 859 - 860Online Volltext: dx.doi.org/
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Dynamische Rekonfiguration eines seilbasierten Manipulators zur Verbesserung der mechanischen SteifigkeitIn: Fachtagung Mechatronik 2015: Dortmund (12.03.-13.03.2015) / VDI/VDE Mechatronik 2015, 12.-13. März 2015, Dortmund / Bertram, Torsten; Corves, Burkhard; Janschek, Klaus (Hrsg.) 2015, S. 91 - 96
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Energie-optimale Trajektorien für seilbasierte Manipulatoren unter Verwendung von passiven ElementenIn: First IFToMM D-A-CH Conference 2015: Tagungsband / IFToMM D-A-CH Conference 2015 ; 11. März 2015, TU Dortmund / Malzahn, Jörn (Hrsg.) 2015, S. 43 - 52Online Volltext: dx.doi.org/ Online Volltext (Open Access)
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A versatile tension distribution algorithm for n-DOF parallel robots driven by n+2 cablesIn: IEEE Transactions on Robotics (T-RO) Jg. 31 (2015) Nr. 6, S. 1444 - 1457Online Volltext: dx.doi.org/
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Robust internal force-based impedance control for cable-driven parallel robotsIn: Cable-driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots / International Conference on Cable-Driven Parallel Robots ; CableCon 2014 ; 24 - 27th August 2014, Duisburg, Germany / Bruckmann, Tobias; Pott, Andreas (Hrsg.) 2015, S. 131 - 143Online Volltext: dx.doi.org/
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Unified contact force control approach for cable-driven parallel robots using an impedance/admittance control strategyIn: Proceedings of the 14th IFToMM World Congress: Vol. 2 / 14th IFToMM World Congress on Mechanism and Machine Science, 25-30 October 2015, Taipei, Taiwan 2015, S. 645 - 654Online Volltext: dx.doi.org/
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Analysis of a real-time capable cable force computation methodIn: Cable-driven Parallel Robots: Proceedings of the Second International Conference on Cable-Driven Parallel Robots / International Conference on Cable-Driven Parallel Robots ; CableCon 2014 ; 24 - 27th August 2014, Duisburg, Germany / Bruckmann, Tobias; Pott, Andreas (Hrsg.) 2015, S. 227 - 238Online Volltext: dx.doi.org/
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Internal force-based impedance control for cable-driven parallel robotsIn: Advances on theory and practice of robots and manipulators: proceedings of ROMANSY 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators / RoManSy ; CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators ; Moscow, 23.-26.06.2014 / Ceccarelli, Marco; Glazunov, Victor A. (Hrsg.) 2014, S. 435 - 443Online Volltext: dx.doi.org/
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Analysis of geometrical force calculation algorithms for cable-driven parallel robots with a threefold redundancyIn: Advances in robot kinematics: [Symposium on Advances in Robot Kinematics, ARK 2014, Ljubljana, Slovenia, June 29 - July 3, 2014 ; conference proceedings] / Symposium on Advances in Robot Kinematics ; International Symposium on Advances in Robot Kinematics ; ARK 2014 ; / Lenarčič, Jadran; Khatib, Oussama (Hrsg.) 2014, S. 203 - 211Online Volltext: dx.doi.org/
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An energy-efficient wire-based storage and retrieval systemIn: 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2013): Vol.1 / IEEE/ASME International Conference on Advanced Intelligent Mechatronics,Wollongong, Australia, July 9-12, 2013 2013, S. 631 - 636Online Volltext: dx.doi.org/
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Ausnutzung energiespeichernder Elemente zur Effizienzsteigerung seilbasierter RegalbediengeräteIn: Fachtagung Mechatronik 2013: Aachen, (06.03. - 08.03.2013) ; [Tagungsband] / Fachtagung Mechatronik ; VDI/VDE Mechatroniktagung ; Tagung Mechatronik ; Aachen, 06.03. - 08.03.2013 / Bertram, Torsten; Corves, Burkhard; Janschek, Klaus (Hrsg.) 2013, S. 171 - 176
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Centralized non-linear model predictive control of a redundantly actuated parallel manipulatorIn: New Trends in Mechanism and Machine Science: Theory and Applications in Engineering / Fourth European Conference on Mechanism Science (EUCOMES 2012 Conference), 18 Sep - 22 Sep 2012, Santander, Spain / Viadero, Fernando; Ceccarelli, Marco (Hrsg.) 2013, S. 621 - 629Online Volltext: dx.doi.org/
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Regelung redundant angetriebener Parallelmanipulatoren mit reibungsbehafteten MotorenIn: Bewegungstechnik 2012: 16. VDI-Getriebetagung ; Koppelgetriebe, Kurvengetriebe und gesteuerte Antriebe im Maschinen-, Fahrzeug- und Gerätebau / 16. VDI-Getriebetagung ; Koppelgetriebe, Kurvengetriebe und gesteuerte Antriebe im Maschinen-, Fahrzeug- und Gerätebau ; Nürtingen, 11. und 12. September 2012 2012, S. 185 - 196