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

• Heinz-Dieter Schunk Preis

Teaching and Department Works

• Manipulatortechnik

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:

• SEGESTA v2.0 (Video)
• DuoScara v1.0 (Video)

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