Publicationen

Veröffentlichungen

  • Ehlers, S. F. G.; Stuede, M.; Nuelle, K.; Ortmaier, T.; (2020): Map Management Approach for SLAM in Large-Scale Indoor and Outdoor AreasInternational Conference on Robotics and Automation (ICRA) 2020 More Info
  • Schappler, M.; Ortmaier, T. (2020): Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic ConstraintsTagungsband der 6. IFToMM D-A-CH Konferenz, Lienz, Österreich
    DOI: 10.17185/duepublico/71211
  • Dörbaum, M.; Tappe, S.; Ortmaier, T.; Ponick, B.; (2019): Design and Analysis of Electromagnetic Tilting ActuatorsIEEE/ASME Transactions on Mechatronics
    DOI: 10.1109/TMECH.2019.2929735
  • Habich, T.-L., Kaczor, D., Tappe, S., Ortmaier, T. (2019): Online Learning of the Inverse Dynamics with Parallel Drifting Gaussian Processes: Implementation of an Approach for Feedforward Control of a Parallel Kinematic Industrial Robot2019 IEEE International Conference on Mechatronics and Automation (ICMA)
    DOI: 10.1109/ICMA.2019.8816298
  • Knöchelmann, E.; Goetjes, B.; Männel, A.; Tappe, S.; Ortmaier, T. (2019): Cost-Optimized Fuzzy Control of DC Micro Grids3rd IEEE International Conference on DC Microgrids (ICDCM 2019), Matsue, Japan (accepted for publication)
  • Knöchelmann, E.; Männel, A.; Tappe, S.; Ortmaier, T. (2019): Cost-Optimized Control of DC Microgrids based on Characteristic Diagrams20th IEEE International Conference on Industrial Technology (ICIT 2019), Melbourne, Australia
  • Knöchelmann, E.; Tappe, S.; Ortmaier, T. (2019): Potential of Energy Storage Systems for Industrial RobotsTagungsband des 4. Fachkolloquium der Wissenschaftlichen Gesellschaft für Montage, Handhabung, Industrierobotik (MHI 2019) (Scientific Association for Assembly, Handling and Industrial Robots), Dortmund, Germany
  • Männel, A.; Knöchelmann, E.; Tappe, S.; Ortmaier, T. (2019): State of Charge Based Characteristic Diagram Control for Energy Storage Systems within Industrial DC Micro Grids3rd IEEE International Conference on DC Microgrids (ICDCM 2019), Matsue, Japan (accepted for publication)
  • Schappler, M.; Lilge, T..; Haddadin, S. (2019): Kinematics and Dynamics Model via Explicit Trigonometric Elimination of Kinematic Constraints for a Force Assistance ExoskeletonProc. of the 15th IFToMM World Congress, Krakow, Poland
    DOI: 10.1007/978-3-030-20131-9_311
  • Schappler, M.; Tappe, S.; Ortmaier, T. (2019): Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot SynthesisProc. of the 15th IFToMM World Congress, Krakow, Poland
    DOI: 10.1007/978-3-030-20131-9_193
    ISBN: 978-3-030-20131-9
  • Schappler, M.; Tappe, S.; Ortmaier, T. (2019): Resolution of Functional Redundancy for 3T2R Robot Tasks using Two Sets of Reciprocal Euler AnglesProc. of the 15th IFToMM World Congress, Krakow, Poland
    DOI: 10.1007/978-3-030-20131-9_168
    ISBN: 978-3-030-20131-9
  • Stuede, M.; Nuelle, K.; Tappe, S.; Ortmaier, T. (2019): Door opening and traversal with an industrial cartesian impedance controlled mobile robotIEEE International Conference on Robotics and Automation (ICRA 2019). Montreal, Kanada, 20 – 24 Mai 2019.
    DOI: 10.1109/ICRA.2019.8793866
  • Stuede, M.; Wilkening, J.; Tappe, S.; Ortmaier, T. (2019): Voice recognition and processing interface for an interactive guide robot in an university scenario19th International Conference on Control, Automation and Systems (ICCAS 2019)
  • Zidan, A.; Kaczor, D.; Tappe, S.; Ortmaier, T. (2019): Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta RobotTagungsband des 4. Fachkolloquium der Wissenschaftlichen Gesellschaft für Montage, Handhabung, Industrierobotik (MHI 2019) (Scientific Association for Assembly, Handling and Industrial Robots), Dortmund, Germany
  • Gritzner, D.; Knöchelmann, E.; Greenyer, J.; Eggers, K.; Tappe, S.; Ortmaier, T. (2018): Specifying and Synthesizing Energy-Efficient Production System Controllers that Exploit Braking Energy Recuperation14th IEEE International Conference on Automation Science and Engineering (CASE 2018), Munich, Germany
  • Kaczor D.; Recker T.; Tappe S; Ortmaier T. (2018): Improving Path Accuracy in Varying Pick and Place Processes by means of Trajectory Optimization using Iterative Learning ControlTagungsband des 3. Kongresses Montage Handhabung Industrieroboter
    DOI: 10.1007/978-3-662-56714-2
    ISBN: 978-3-662-56714-2
  • Modes, V.; Ihler, S.; Ortmaier, T.; Nabavi, A.; Kahrs, L. A.; Burgner-Kahrs, J. (2018): Towards Concentric Tube Robots for Microsurgery: First Results in Eye-to-hand Visual ServoingProceedings of The Hamlyn Symposium on Medical Robotics 2018, London, England
  • Zidan, A.; Tappe, S.; Ortmaier, T. (2018): Auto-tuning of PID controllers for Robotic Manipulators Using PSO and MOPSO14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 2017. Revised Selected Papers Series: Lecture Notes in Electrical Engineering 2018 Springer (accepted)
  • Tappe, S.; Yu, D.; Kotlarski, J.; Ortmaier, T. (2017): Model Reduction Methods for optimal Follow-the-Leader Movements of Binary Actuated, Hyper-Redundant Robots7th IFToMM International Workshop on Computational Kinematics (CK2017), Poitiers, France, May, 2017
  • Carstensen, J., Carstensen, T., Pabst, M., Schulz, F., Friederichs, J., Aden, S., Kaczor, D., Kotlarski, J., Ortmaier, T. (2016): Condition Monitoring and Cloud-based Energy Analysis for Autonomous Mobile Manipulation - Smart Factory Concept with LUHbots3rd International Conference on System-Integrated Intelligence: New Challenges for Product and Production Engineering, SysInt 2016
    DOI: 10.1016/j.protcy.2016.08.070
  • Dörbaum, M.; Winkel, T.; Tappe, S.; Kotlarski, J.; Ortmaier, T.; Ponick, B. (2016): Torque Measurements on an Electromagnetic Tilting ActuatorProceedings of the 15th International Conference on New Actuators, Bremen, Germany, June, 2016
  • Kundrat, D.; Schoob, A.; Kahrs, L. A.; Ortmaier, T. (2016): First Study on a Monolithically Manufactured Variable-Length Continuum Robot with Hybrid Actuation15th Annual Conference of the German Society for Computer and Robotic Assisted Surgery (Curac 2016)
  • Nuelle, K.; Kotlarski, J.; Ortmaier, T. (2016): Mobiles Augmented-Reality-System für Handwerker, Einsatzevaluation durch GenauigkeitsmessungenZweite transdisziplinäre Konferenz „Technische Unterstützungssysteme, die die Menschen wirklich wollen“
  • Öltjen, J.; Beckmann, D.; Hansen, C.; Maurer, I.; Kotlarski, J.; Ortmaier, T. (2016): Integrated Parameter Management Concept for Simplified Implementation of Control, Motion Planning, and Process Optimization MethodsApplied Mechanics & Materials Vol. 840, p114-122, (2016) Trans Tech Publications, Schweiz
    DOI: 10.4028/www.scientific.net/AMM.840.114
  • Connemann, N.; Kotlarski, J.; Ortmaier, T. (2015): Exoskeleton for Strain Reduction and Motion Restriction of Manual OperationsTagungsband VDE Mechatronik, Dortmund
    DOI: 10.17877/DE290R-7388
  • Hansen, C.; Eggers, K.; Kotlarski, J.; Ortmaier, T. (2015): Concurrent Energy Efficiency Optimization of Multi-Axis Positioning Tasksin Proc. of the 10th IEEE Conference on Industrial Electronics and Applications (ICIEA 2015), Auckland, New Zealand (Best Paper Award)
    DOI: 10.1109/ICIEA.2015.7334167
  • Öltjen, J.; Kotlarski, J.; Ortmaier, T. (2015): Reduction of End Effector Oscillations of a Parallel Mechanism with Modified Motion ProfilesProc. of the 10th IEEE Conference on Industrial Electronics and Applications
  • Borchard, J.-H.; Dierßen, F.; Kotlarski, J.; Kahrs, L. A.; Ortmaier, T. (2014): Workspace Analysis for Evaluating Laparoscopic InstrumentsNew Trends in Mechanism and Machine Science
  • Kobler, J.-P.; Kotlarski, J.; Lexow, G. J.; Majdani, O.; Ortmaier, T. (2014): Design Optimization of a Bone-Attached, Redundant and Reconfigurable Parallel Kinematic Device for Skull Surgery2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
    DOI: 10.1109/ICRA.2014.6907187
  • Tappe, S.; Kotlarski, J.; Ortmaier, T. (2014): Dexterous Surgical Instrument Based on Electromagnetic Actuation10. Russian-German Conference on Biomedical Engineering, St. Petersburg, Russia
  • Leibold, S., Fregin, A., Kaczor, D., Kollmitz, M., El Menuawy, K., Popp, E., Kotlarski, J., Gaa, J., Munske, B. (2013): RoboCup@Work League Winners 2012RoboCup 2012: Robot Soccer World Cup XVI
    DOI: 10.1007/978-3-642-39250-4_7
  • Do Thanh, T.; Kotlarski, J.; Ortmaier, T.; Heimann, B. (2009): On the Inverse Dynamics Problem of General Parallel RobotsProc. of the 2009 IEEE International Conference on Mechatronics, Malaga, Spain
  • Kotlarski, J.; de Nijs, R.; Abdellatif, H.; Heimann, B. (2009): New Interval-based Approach to Determine the Guaranteed Singularity-Free Workspace of Parallel RobotsProc. of the 2009 International Conference on Robotics and Automation, pp. 1256-1261, Kobe, Japan
  • Kotlarski, J.; Abdellatif, H.; Heimann, B. (2008): Improving the Pose Accuracy of a Planar 3RRR Parallel Manipulator using Kinematic Redundancy and Optimized Switching PatternsProc. of the 2008 International Conference on Robotics and Automation, pp. 3863-3868, Pasadena, USA
  • Blume, H.; Heimann, B. (2007): A geometric approach to consideration of control variable limits for wheeled mobile robots with kinematic constraintsProc. of the XII Int. Symposium on Dynamic Problems of Mechanics, CD-ROM, Ihabela, Brazil
  • Heimann, B.; Abdellatif, H. (2007): Dynamics and Control of Robots with Parallel Kinematic StructureProc. of the XII Int. Symposium on Dynamic Problems of Mechanics, CD-ROM, Ihabela, Brazil
  • Hussong, A.; Heimann, B. (2007): Restricted Minimum-Effort Motion Planning for Serial ManipulatorsProc. of the 12th IFToMM World Congress, Besancon
  • Kotlarski, J.; Abdellatif, H.; Heimann, B. (2007): On Singularity Avoidance and Workspace Enlargement of Planar Parallel Manipulators using Kinematic RedundancyProc. of the 13th IASTED International Conference on Robotics and Applications, pp. 451-456, Würzburg, Germany

Reports

  • Nülle, K.; Schappler, M.; Tappe, S.; Lilge, T.; Ortmaier, T; Haddadin, S. (2017): 3. Arm - Handwerker-Kraftassistenzsystem mit adaptiver Mensch-Technik-Interaktion: Projektabschlussbericht des Mechatronik Zentrum Hannovers
    DOI: 10.2314/GBV:1014030161

Artikel

  • Modes, V.; Burgner-Kahrs J. (2019): Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic TubesIEEE Robotics and Automation Letters
    DOI: 10.1109/LRA.2019.2946060
  • Schappler, M.; Tappe, S.; Ortmaier, T. (2019): Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler AnglesRobotics: Special Issue "Kinematics and Robot Design II"
    DOI: 10.3390/robotics8030068
  • Kobler, J.-P.; Kotlarski, J.; Öltjen, J.; Baron, S.; Ortmaier, T. (2011): Design and Analysis of a Head-Mounted Parallel-Kinematic Device for Skull SurgeryInternational Journal of Computer Assisted Radiology and Surgery (JCARS)
    DOI: 10.1007/s11548-011-0619-8
  • Abdellatif, H.; Grotjahn, M.; Heimann, B. (2007): Independent Identification of Friction Characteristics for Parallel ManipulatorsASME Journal of Dynamic Systems, Measurement and Control, Vol. 129 (Nr. 3), pp. 294-302

Buchkapitel

  • Nuelle, K.; Bringeland, S.; Tappe, S.; Deml, B.; Ortmaier, T. (2018): Mobile Augmented Reality System for CraftsmenIn:Weidner, R. (Hrsg.): Developing Support Technologies - Integrating Multiple Perspectives to Create Support that People Really Want. (Biosystems and Biorobotics), Springer

Bücher

  • Abdellatif, H.; Heimann, B. (2007): Model Based Control for Industrial Robots: Uniform Approaches for Serial and Parallel StructuresS. Cubero (Editor), Industrial Robotics: Theory, Modeling and Control, Pro Literatur Verlag