Publicationen

  • Elias Knöchelmann, Dwayne Steinke, Joel Greenyer, Svenja Spindeldreier, Tobias Ortmaier (2020): Trajectory Optimization Methods for Robotic CellsConsidering Energy Efficiency and CollisionsTagungsband des 5. Fachkolloquium der Wissenschaftlichen Gesellschaft für Montage, Handhabung, Industrierobotik (MHI 2020) (Scientific Association for Assembly, Handling and Industrial Robots), Bayreuth, Germany
  • Alexander Männel, Kevin Müller, Elias Knöchelmann, Tobias Ortmaier (2020): Load Profile Cycle Recognition for Industrial DC Microgrids with Energy Storage Systems29th IEEE International Symposium on Industrial Electronics, Delft, The Netherlands, accepted
  • Kathrin Nuelle, Tim Sterneck, Sven Lilge, Dezhu Xiong, Jessica Burgner-Kahrs, Tobias Ortmaier (2020): Modeling, Calibration, and Evaluation of a Tendon-Actuated Planar Parallel Continuum RobotIEEE Robotics and Automation Letters
    DOI: 10.1109/LRA.2020.3010213
  • Volkmann, Björn; Kaczor, Daniel; Tantau, Mathias; Schappler, Moritz; Ortmaier, Tobias (2020): Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse DynamicsInternational Conference on Mechatronics and Automation
  • 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
  • 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)
  • 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
  • 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): 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
  • 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)
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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)
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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“
  • 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)
  • 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
  • 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
  • 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
  • Tappe, S.; Kotlarski, J.; Ortmaier, T. (2014): Dexterous Surgical Instrument Based on Electromagnetic Actuation10. Russian-German Conference on Biomedical Engineering, St. Petersburg, Russia
  • 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
  • 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
  • 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
  • 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
  • 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.; 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
  • Hussong, A.; Heimann, B. (2007): Restricted Minimum-Effort Motion Planning for Serial ManipulatorsProc. of the 12th IFToMM World Congress, Besancon
  • 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
  • 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
  • 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
  • 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
  • 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