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

 

    2019

  • Reichert, Christopher; Bruckmann, Tobias
    Optimization of the geometry of a cable-driven storage and retrieval system
    In: 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.). Cham: Springer, 2019, S. 225 – 237
    DOI
  • Bruckmann, Tobias; Reichert, Christopher; Ji, Hongqian
    Energy Consumption Reduction of a Cable-Driven Storage and Retrieval System
    In: Advances in Robot Kinematics 2018 / ARK 2018 ; July 1 - 5, 2018; Bologna, Italy / Lenarcic, Jadran; Parenti-Castelli, Vincenzo (Hrsg.). Cham: Springer, 2019, S. 383 – 391
    DOI

    • 2017

  • 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 ; Quebec City, 02.-04.08.2017 / Gosselin, Clément; Cardou, Philippe; Bruckmann, Tobias; Pott, Andreas (Hrsg.). Cham: Springer, 2017, S. 364 – 375
    DOI
  • Othmann, Fauzi; Kurniawan, Rudi; Reichert, Christopher; Schweig, Stephan; Bruckmann, Tobias
    Virtual prototype of spatial redundantly constraint cable-driven parallel robot using object-oriented modeling principal
    In: 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. Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2017, S. 73 – 79
    DOI, Online Volltext
  • Bruckmann, Tobias; Mattern, Hannah; Spengler, Arnim; Reichert, Christopher; Malkwitz, Alexander; König, Markus
    Automated construction of Masonry buildings using cable-driven parallel robots
    In: 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. Red Hook: Curran Associates, 2017, S. 332 – 340
    DOI (Open Access)

    • 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), Jg. 16, 2016, Nr. 1, S. 859 – 860
    DOI

    • 2015

  • 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 (T-RO), Jg. 31, 2015, Nr. 6, S. 1444 – 1457
    DOI
  • 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.). Cham: Springer International Publishing, 2015, S. 227 – 238
    DOI
  • 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.). Cham: Springer, 2015, S. 131 – 143
    DOI
  • 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. Taipei: National Taiwan University, 2015, S. 645 – 654
    DOI
  • 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.). Aachen: Inst. für Getriebetechnik und Maschinendynamik, 2015, S. 91 – 96
    DOI
  • 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.). Duisburg [u.a.]: DuEPublico, 2015, S. 43 – 52
    DOI, Online Volltext (Open Access)

    • 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.). Cham [u.a.]: Springer, 2014, S. 435 – 443
    DOI
  • 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.). Cham [u.a.]: Springer, 2014, S. 203 – 211
    DOI

    • 2013

  • Hufnagel, T.; Reichert, C.; Schramm, Dieter
    Centralized non-linear model predictive control of a redundantly actuated parallel manipulator
    In: 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.). Dordrecht: Kluwer Academic Publishers, 2013, S. 621 – 629
    DOI
  • 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.). Aachen, 2013, S. 171 – 176
  • 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. Piscataway, NJ: IEEE, 2013, S. 631 – 636
    DOI

    • 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. Düsseldorf: VDI-Verl., 2012, S. 185 – 196

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