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

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

 

    2018

  • Bruckmann, Tobias; Reichert, Christopher; Meik, Michael; Lemmen, Patrik; Spengler, Arnim; Mattern, Hannah; König, Markus
    Concept studies of automated construction using cable-driven parallel robots
    In: Cable-driven parallel robots: Proceedings of the Third International Conference on Cable-Driven Parallel Robots / International Conference on Cable-Driven Parallel Robots ; 3 (Quebec City) : 2017.08.02-04 ; CableCon-2017 ; (Quebec City) : 2017.08.02-04 / Gosselin, Clément; Cardou, Philippe; Bruckmann, Tobias; Pott, Andreas (Hrsg.) 2018, S. 364 - 375
    ISBN: 978-3-319-61430-4; 978-3-319-61431-1
  • 2017

  • Bruckmann, Tobias; Mattern, Hannah; Spengler, Arnim; Reichert, Christopher; Malkwitz, Alexander; König, Markus
    Automated construction of Masonry buildings using cable-driven parallel robots
    In: 33rd International Symposium on Automation and Robotics in Construction and Mining (ISARC 2016): Auburn, Alabama, USA, 18-21 July 2016 / International Symposium on Automation and Robotics in Construction ; ISARC ; International Symposium on Automation and Robotics in Contruction 2017, S. 332 - 340
  • 2016

  • Reicherts, Sebastian; Blume, Sebastian; Reichert, Christopher; Schramm, Dieter
    Sensitivity analysis of the design parameters for the calibration of cable-driven parallel robots
    In: Proceedings in applied mathematics and mechanics : PAMM / 87th Annual Meeting of the International Association of Applied Mathematics and Mechanics ; GAMM ; Deutsche Mathematiker-Vereinigung ; DMV ; Braunschweig, 07.03.-11.03.2016 Jg. 16 (2016) Nr. 1, S. 859 - 860
    ISSN: 1617-7061
  • 2015

  • Müller, Katharina; Reichert, Christopher; Bruckmann, Tobias
    Analysis of a real-time capable cable force computation method
    In: 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 - 238
    ISBN: 978-3-319-09488-5; 978-3-319-09489-2
  • Reichert, Christopher; Unterberg, Ulrich; Bruckmann, Tobias
    Energie-optimale Trajektorien für seilbasierte Manipulatoren unter Verwendung von passiven Elementen
    In: 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 - 52
    ISBN: 978-3-940402-03-5
  • Reichert, Christopher; Bruckmann, Tobias
    Unified contact force control approach for cable-driven parallel robots using an impedance/admittance control strategy
    In: 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 - 654
    ISBN: 978-986-04-6098-8
  • Reichert, Christopher; Glogowski, Paul; Bruckmann, Tobias
    Dynamische Rekonfiguration eines seilbasierten Manipulators zur Verbesserung der mechanischen Steifigkeit
    In: 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
    ISBN: 978-3-00-048814-6
  • Reichert, Christopher; Müller, Katharina; Bruckmann, Tobias
    Robust internal force-based impedance control for cable-driven parallel robots
    In: 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 - 143
    ISBN: 978-3-319-09488-5; 978-3-319-09489-2
  • Gouttefarde, Marc; Lamaury, Johann; Reichert, Christopher; Bruckmann, Tobias
    A versatile tension distribution algorithm for n-DOF parallel robots driven by n+2 cables
    In: IEEE transactions on robotics Jg. 31 (2015) Nr. 6, S. 1444 - 1457
    ISSN: 1042-296X; 1552-3098
  • 2014

  • Reichert, Christopher; Müller, Katharina; Bruckmann, Tobias
    Internal force-based impedance control for cable-driven parallel robots
    In: 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 - 443
    ISBN: 978-3-319-07057-5; 978-3-319-07058-2
  • Müller, Katharina; Reichert, Christopher; Bruckmann, Tobias
    Analysis of geometrical force calculation algorithms for cable-driven parallel robots with a threefold redundancy
    In: 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 - 211
    ISBN: 978-3-319-06697-4; 978-3-319-06698-1
  • 2013

  • Bruckmann, Tobias; Sturm, Christian; Fehlberg, Lisa; Reichert, Christopher
    An energy-efficient wire-based storage and retrieval system
    In: 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 - 636
    ISBN: 978-1-4673-5319-9; 978-1-4673-5318-2; 978-1-4673-5320-5
  • Fehlberg, Lisa; Reichert, Christopher; Zitzewitz, Joachim von; Bruckmann, Tobias
    Ausnutzung energiespeichernder Elemente zur Effizienzsteigerung seilbasierter Regalbediengeräte
    In: 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
    ISBN: 3-86130-958-0; 978-3-86130-958-1
  • 2012

  • Reichert, Christopher; Schramm, Dieter; Hufnagel, Timo
    Regelung redundant angetriebener Parallelmanipulatoren mit reibungsbehafteten Motoren
    In: 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
    ISBN: 978-3-18-092175-4

Christopher Reichert

Christopher Reichert M.Eng.

Room: MD 335

Telefon: +49 (0)203 379-1969

Telefax: +49 (0)203 379-4143

E-Mail: christopher.reichert@uni-due.de