Publicationen

Ehlers, S. F. G.; Stuede, M.; Nuelle, K.; Ortmaier, T.; (2020): Map Management Approach for SLAM in Large-Scale Indoor and Outdoor Areas,  International 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 Constraints,  Tagungsband der 6. IFToMM D-A-CH Konferenz, Lienz, Österreich
DOI: 10.17185/duepublico/71211

Elias Knöchelmann, Dwayne Steinke, Joel Greenyer, Svenja Spindeldreier, Tobias Ortmaier (2020): Trajectory Optimization Methods for Robotic CellsConsidering Energy Efficiency and Collisions,  Tagungsband 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 Systems,  29th IEEE International Symposium on Industrial Electronics, Delft, The Netherlands, accepted

Volkmann, Björn; Kaczor, Daniel; Tantau, Mathias; Schappler, Moritz; Ortmaier, Tobias (2020): Sensitivity-based Model Reduction for In-Process Identification of Industrial Robots Inverse Dynamics,  International Conference on Mechatronics and Automation

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 Robot,  IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2020.3010213

Vincent Modes, Tobias Ortmaier, Jessica Burgner-Kahrs (2020): Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending, and Twisting,  IEEE Sensors Journal
DOI: 10.1109/JSEN.2020.3043999

Dörbaum, M.; Tappe, S.; Ortmaier, T.; Ponick, B.; (2019): Design and Analysis of Electromagnetic Tilting Actuators,  IEEE/ASME Transactions on Mechatronics
DOI: 10.1109/TMECH.2019.2929735

Zidan, A.; Kaczor, D.; Tappe, S.; Ortmaier, T. (2019): Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot,  Tagungsband 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): Exploiting Dynamics Parameter Linearity for Design Optimization in Combined Structural and Dimensional Robot Synthesis,  Proc. 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 Angles,  Proc. 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 Robots,  Tagungsband 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 Grids,  3rd 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 robot,  IEEE 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 Grids,  3rd 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 Diagrams,  20th IEEE International Conference on Industrial Technology (ICIT 2019), Melbourne, Australia

Schappler, M.; Tappe, S.; Ortmaier, T. (2019): Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles,  Robotics: 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 Exoskeleton,  Proc. 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 Robot,  2019 IEEE International Conference on Mechatronics and Automation (ICMA)
DOI: 10.1109/ICMA.2019.8816298

Stuede, M.; Wilkening, J.; Tappe, S.; Ortmaier, T. (2019): Voice recognition and processing interface for an interactive guide robot in an university scenario,  19th International Conference on Control, Automation and Systems (ICCAS 2019)

Modes, V.; Burgner-Kahrs J. (2019): Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes,  IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2019.2946060

Zidan, A.; Tappe, S.; Ortmaier, T. (2018): Auto-tuning of PID controllers for Robotic Manipulators Using PSO and MOPSO,  14th International Conference on Informatics in Control, Automation and Robotics, Madrid, Spain, 2017. Revised Selected Papers Series: Lecture Notes in Electrical Engineering 2018 Springer (accepted)

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

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 Recuperation,  14th IEEE International Conference on Automation Science and Engineering (CASE 2018), Munich, Germany

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 Servoing,  Proceedings of The Hamlyn Symposium on Medical Robotics 2018, London, England

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 Control,  Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter
DOI: 10.1007/978-3-662-56714-2
ISBN: 978-3-662-56714-2

Tappe, S.; Yu, D.; Kotlarski, J.; Ortmaier, T. (2017): Model Reduction Methods for optimal Follow-the-Leader Movements of Binary Actuated, Hyper-Redundant Robots,  7th 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 Actuator,  Proceedings 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 Methods,  Applied 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 Genauigkeitsmessungen,  Zweite 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 Actuation,  15th 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 LUHbots,  3rd International Conference on System-Integrated Intelligence: New Challenges for Product and Production Engineering, SysInt 2016
DOI: 10.1016/j.protcy.2016.08.070

Connemann, N.; Kotlarski, J.; Ortmaier, T. (2015): Exoskeleton for Strain Reduction and Motion Restriction of Manual Operations,  Tagungsband VDE Mechatronik, Dortmund
DOI: 10.17877/DE290R-7388

Öltjen, J.; Kotlarski, J.; Ortmaier, T. (2015): Reduction of End Effector Oscillations of a Parallel Mechanism with Modified Motion Profiles,  Proc. of the 10th IEEE Conference on Industrial Electronics and Applications

Hansen, C.; Eggers, K.; Kotlarski, J.; Ortmaier, T. (2015): Concurrent Energy Efficiency Optimization of Multi-Axis Positioning Tasks,  in 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 Actuation,  10. 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 Instruments,  New 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 Surgery,  2014 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 2012,  RoboCup 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 Surgery,  International Journal of Computer Assisted Radiology and Surgery (JCARS)
DOI: 10.1007/s11548-011-0619-8

Do Thanh, T.; Kotlarski, J.; Ortmaier, T.; Heimann, B. (2009): On the Inverse Dynamics Problem of General Parallel Robots,  Proc. 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 Robots,  Proc. 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 Patterns,  Proc. of the 2008 International Conference on Robotics and Automation, pp. 3863-3868, Pasadena, USA

Kotlarski, J.; Abdellatif, H.; Heimann, B. (2007): On Singularity Avoidance and Workspace Enlargement of Planar Parallel Manipulators using Kinematic Redundancy,  Proc. of the 13th IASTED International Conference on Robotics and Applications, pp. 451-456, Würzburg, Germany

Blume, H.; Heimann, B. (2007): A geometric approach to consideration of control variable limits for wheeled mobile robots with kinematic constraints,  Proc. 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 Structure,  Proc. of the XII Int. Symposium on Dynamic Problems of Mechanics, CD-ROM, Ihabela, Brazil

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

Abdellatif, H.; Grotjahn, M.; Heimann, B. (2007): Independent Identification of Friction Characteristics for Parallel Manipulators,  ASME Journal of Dynamic Systems, Measurement and Control, Vol. 129 (Nr. 3), pp. 294-302

Hussong, A.; Heimann, B. (2007): Restricted Minimum-Effort Motion Planning for Serial Manipulators,  Proc. of the 12th IFToMM World Congress, Besancon