A5036993060- Robot Manipulation and Learning
- Digital Transformation in Industry
- Modular Robots and Swarm Intelligence
- Robotics and Automated Systems
- Flexible and Reconfigurable Manufacturing Systems
- Robotic Path Planning Algorithms
- Manufacturing Process and Optimization
- IoT and Edge/Fog Computing
- Teleoperation and Haptic Systems
- Robotics and Sensor-Based Localization
- Robotic Mechanisms and Dynamics
- Digital Innovation in Industries
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Advanced Frequency and Time Standards
- Digitalization, Law, and Regulation
- Network Time Synchronization Technologies
- Advanced Manufacturing and Logistics Optimization
- Control and Dynamics of Mobile Robots
- Parallel Computing and Optimization Techniques
- Ergonomics and Musculoskeletal Disorders
- Software-Defined Networks and 5G
- Visual Attention and Saliency Detection
- Inertial Sensor and Navigation
- Safety Systems Engineering in Autonomy
Fraunhofer Institute for Production Systems and Design Technology
2010-2024
Whitman College
2024
Tallinn University of Technology
2024
Daresbury Laboratory
2024
Technische Universität Berlin
2013-2017
Force control enables hands-on teaching and physical collaboration, with the potential to improve ergonomics flexibility of automation. Established methods for design compliance, impedance control, collision response can achieve free-space stability acceptable peak contact force on lightweight, lower payload robots. Scaling collaboration higher payloads allow new applications, but introduces challenges due more significant dynamics use higher-payload industrial To high-payload manual...
This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on decentralized IT infrastructure (Cloud) allowing fast reconfiguration modules their multiple usage in different tasks. dedicated PC or individual virtual machines inside single computing cluster. proposed was implemented tested the robotic manipulator. Effects...
This paper presents the concept and architecture of a model predictive feedback control system to be used for compensating communication delays in networked industrial robot control. approach follows ideas given by paradigms Industrie 4.0 that demand highly production devices functions on different machine layers IT hierarchy levels. We push fully outsourced systems point, where even real-time critical processes are driven from cloud-based services over uncertain public networks.
A widespread application of impedance control in dual-arm robotic systems is still a challenging problem. One limitations the absence widely-accepted framework for synthesis parameters that ensure stability both contact transition and interaction processes guarantee desired performance. The next critical problem relates planning programming complex controlled bimanual operations. proposed new design, provides efficient flexible algorithms tools which considerably facilitate future robot...
This paper outlines the centralized design and production of ultra-high-vacuum sidearm laser-stabilization systems for AION Ultra-Cold Strontium Laboratories. Commissioning data on residual gas steady-state pressures in chambers, magnetic field quality, laser stabilization, loading rate 3D magneto-optical trap are presented. Streamlining stabilization enabled Collaboration to build equip parallel five state-of-the-art Laboratories within 24 months by leveraging key expertise collaboration....
This paper presents methodologies and tests for the safe physical human-robot interaction in conventional position controlled non-back driveable industrial robotic systems. The developed algorithms are based on a simplified sensor-less estimation of external forces saturation joint control torques to keep effective under safety level. To cope with non-linear phenomena, compensators path error governor have been implemented designed ensure smooth behaviour preserved performance. Being able...
This paper describes our concept for control of robots and machine tools through a private factory cloud which is dynamically extended by additional public resources. After discussing the opportunities drawbacks virtualization robot controllers (RC) software programmable logic (soft-PLC), we present first experiences with setup infrastructures. Finally, introduce experimental design investigating requirements algorithms regarding availability, dependability realtime capability in local...
The increasing complexity of products and machines as well short production cycles with small lot sizes present great challenges to industry. Both, the programming industrial robots in online mode using hand-held control devices or offline text-based requires specific knowledge robotics manufacturer-dependent robot systems. In particular for medium-sized enterprises machine software needs be easy, intuitive usable without time-consuming learning steps, even employees no in-depth information...
Mobile autonomous transport systems are a crucial part of flexible factory logistics enabling an adaptable industrial production. Whereas connectivity these mobile robots is still mostly covered through Wifi, applicators suffer from interferences and unreliableness due to the harsh environmental conditions. We present case study using 4G campus networks applying network slicing technology edge computing in order realize distributed control scenario. Control algorithms offloaded following...
This paper gives an introduction to the process of experimental project in pertaining planning and integrating a human-robot interactive stone carving system. The includes analysis manual by professional sculptor, risk assessment projected robotic assistant system resulting safety concepts, design tool carrier with force sensors human-machine interface. A standard industrial robot was selected enhanced extensive periphery build up intelligent carrier. Besides scientific results regarding...
The fourth industrial revolution has called forth a transformation of how factories and their internal external components processes should integrate with each other. need for fully connected cyber-physical systems is imperative to this vision. In the context human-robot interaction creates new exciting possibilities, but also challenges at same time. real-time requirements robot control systems, allow safe effective manipulation, have be given serious consideration. This work develops...
In the bin picking problem, task is to automatically unload objects from a container using robotic manipulator. The often approached by organizing into predictable pattern, e.g., workpiece carrier, in order simplify all integral subtasks like object recognition, motion planning and grasping. such case, can even be solved offline as it ensured that are always at same positions known times. However, there growing demand for non-structured picking, where placed randomly bins. This arises recent...
The task of bin picking is to automatically unload objects from a container using robotic manipulator. A widely used solution organize the into predictable pattern, e.g., workpiece carrier, in order simplify all integral subtasks like object recognition, motion planning and grasping. In such case, can even be solved offline as it ensured that are always at same positions. However, there growing demand for non-structured picking, where placed randomly bins. This arises recent trends...
The classical design of industrial robot controllers relies strongly on constant and stable cycle times for any closed loop operation. Meanwhile, decentralizing control into independent services rolling them out to virtual machines cloud instances is an upcoming trend. advantage the distributed lies in achieving full flexibility location service execution. In contrast, internet connectivity leads unknown latency conditions resulting unpredictable times. That not well handled by standard...
The benefits of the currently evolving IEEE Time-Sensitive Networking (TSN) standard have already been globally recognized. Whereas application TSN in a LAN is widely and tested, Metropolitan Area Network (MAN) has not major focus until now. possible utilizing co-located Edge Clouds order to support multiple urban production sites with industrial realtime applications open wide range new business models. Therefore, we analyzed feasibility transparently using PROFINET over via Dense...
Deploying navigation algorithms on an edge or cloud server according to the Software-as-a-Service paradigm has many advantages for autonomous mobile robots in indus-trial environments, e.g. cooperative planning and less onboard energy consumption. However, outsourcing corresponding real-time critical control functions requires a high level of reliability, which cannot be guaranteed either by modern wireless networks nor outsourced computing infrastructure. This work introduces redundancy...
In line with the current trend towards local, private 5G networks, on-premise edge clouds are becoming increasingly important for real-time, secure, robust and low-latency communication in production plants. While this is a proven means larger manufacturing companies to implement private/proprietary, real-time capable data processing infrastructure their facilities, small medium-sized enterprises (SMEs) cannot afford such infrastructures due high acquisition costs. Therefore, an off-premise...
Improving Posture During Human-Robot Collaboration The collaboration between humans and robots enables the combination of respective strengths both. However, interaction is not always intuitive, safe pleasant. A robot movement that an improved posture employee supports personalization workstation. This can have positive effects on acceptance effectiveness even a larger group people be involved in activity.