{ "types" : { "Bookmark" : { "pluralLabel" : "Bookmarks" }, "Publication" : { "pluralLabel" : "Publications" }, "GoldStandardPublication" : { "pluralLabel" : "GoldStandardPublications" }, "GoldStandardBookmark" : { "pluralLabel" : "GoldStandardBookmarks" }, "Tag" : { "pluralLabel" : "Tags" }, "User" : { "pluralLabel" : "Users" }, "Group" : { "pluralLabel" : "Groups" }, "Sphere" : { "pluralLabel" : "Spheres" } }, "properties" : { "count" : { "valueType" : "number" }, "date" : { "valueType" : "date" }, "changeDate" : { "valueType" : "date" }, "url" : { "valueType" : "url" }, "id" : { "valueType" : "url" }, "tags" : { "valueType" : "item" }, "user" : { "valueType" : "item" } }, "items" : [ { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c5f38aa47c1367714631030ebf794551/isw-bibliothek", "tags" : [ "feed","control","machinetools","isw","drive" ], "intraHash" : "c5f38aa47c1367714631030ebf794551", "interHash" : "ddbb7ba5f7a6f585c61e90ea16d0a444", "label" : "Compensation of the Transmission Errors in Electrically Preloaded Rack-and-Pinion Drives", "user" : "isw-bibliothek", "description" : "", "date" : "2026-02-11 10:55:05", "changeDate" : "2026-02-11 10:55:35", "count" : 1, "pub-type": "inproceedings", "booktitle": "IECON 2025 \u2013 51st Annual Conference of the IEEE Industrial Electronics Society", "year": "2025", "url": "", "author": [ "Lukas Steinle","Valentin Leipe","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Lukas", "last" : "Steinle"}, {"first" : "Valentin", "last" : "Leipe"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "pages": "1-8","abstract": "Large machine tools with long feed axes commonly utilize electrically preloaded rack-and-pinion drives, where two redundant drives on one axis are preloaded against each other by a dedicated control loop. Manufacturing- and assembly-related tolerances and elastic deformations lead to transmission errors in the drivetrains, that limit the achievable accuracy. Due to the limited bandwidth of the position control, these cannot be fully suppressed despite the use of linear measuring systems. In this paper, the superposition of the individual errors of the two drivetrains of electrically preloaded systems and the transfer function to the resulting path errors are theoretically derived in a first step. In addition, the negative effect of transmission errors on the preload control is investigated. To address the issue, an error compensation for the position and preload control loops is implemented. The basis for this are models of the state-dependent transmission errors utilizing a two-stage machine learning approach. The achievable reduction of path errors is validated in experimental investigations on a test bench and averages 57.8% for the measurements conducted.", "doi" : "10.1109/IECON58223.2025.11221193", "bibtexKey": "11221193" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/223c203e77e69530f0096d98438989b5e/isw-bibliothek", "tags" : [ "LPBF,","laser,","control","isw," ], "intraHash" : "23c203e77e69530f0096d98438989b5e", "interHash" : "57acd565632793bd7dbc7839aea8403b", "label" : "Feedrate-dependent laser power control", "user" : "isw-bibliothek", "description" : "", "date" : "2025-11-24 07:34:21", "changeDate" : "2025-11-24 07:34:21", "count" : 1, "pub-type": "inproceedings", "booktitle": "Advanced Laser Processing and Manufacturing IX","publisher":"SPIE", "year": "2025", "url": "https://doi.org/10.1117/12.3073147", "author": [ "David Hecht","Lukas Keppler","Daniel Kurth","Colin Reiff","Roman Hofmann","Alexander Verl" ], "authors": [ {"first" : "David", "last" : "Hecht"}, {"first" : "Lukas", "last" : "Keppler"}, {"first" : "Daniel", "last" : "Kurth"}, {"first" : "Colin", "last" : "Reiff"}, {"first" : "Roman", "last" : "Hofmann"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Minghui Hong","Ting Huang","Yuji Sano","Jianhua Yao" ], "editors": [ {"first" : "Minghui", "last" : "Hong"}, {"first" : "Ting", "last" : "Huang"}, {"first" : "Yuji", "last" : "Sano"}, {"first" : "Jianhua", "last" : "Yao"} ], "volume": "13713","pages": "137130N", "doi" : "10.1117/12.3073147", "bibtexKey": "10.1117/12.3073147" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2abe746acbc219133c6ce2b1627bc0310/isw-bibliothek", "tags" : [ "Control","PWM","Adaptive","Electronics","Drive" ], "intraHash" : "abe746acbc219133c6ce2b1627bc0310", "interHash" : "7c1d81e29413e7de4c6012fc1ac1f9ce", "label" : "Enhanced Control Structure for Servo Drives with Adaptive PWM", "user" : "isw-bibliothek", "description" : "", "date" : "2025-04-22 08:50:06", "changeDate" : "2025-04-22 08:50:06", "count" : 1, "pub-type": "inproceedings", "booktitle": "2024 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)", "year": "2024", "url": "", "author": [ "Manuel Weiss","Florian Frick","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Manuel", "last" : "Weiss"}, {"first" : "Florian", "last" : "Frick"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "pages": "1-6","abstract": "The PWM switching frequency significantly impacts the performance and power dissipation of electrical servo drives. In many fields of application, such as industrial automation, static PWM frequencies are typically used. The novel adaptive PWM approach dynamically adjusts the PWM frequency according to process requirements of manufacturing processes. By adapting the PWM frequency, switching losses and the overall energy consumption of servo drives can be reduced. Changing the PWM frequency at runtime requires enhancements to the control structure for dynamic parameter adjustments and a stable operation of the controllers. To validate the enhanced control structure, an experimental evaluation of the performance at different, dynamically changing PWM frequencies is presented. It is shown that the controller operates with the expected behavior at different frequencies but that there are disturbances at the moment of adjusting the PWM frequency. Non-linearities are identified as a major source, including those caused by IGBT-deadtimes. A simple compensation mechanism is integrated in the enhanced control structure as a proof-of-concept, resulting in an almost complete cancelation of disturbances at the moment of adjusting the PWM frequency.", "issn" : "2768-3486", "doi" : "10.1109/PEDES61459.2024.10961716", "bibtexKey": "10961716" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/275008bceaeec1300220035e31b7dd808/isw-bibliothek", "tags" : [ "tool","feed","machine","position","control","isw","drive" ], "intraHash" : "75008bceaeec1300220035e31b7dd808", "interHash" : "5c2673c14c4a0b720ccedef95ad54798", "label" : "Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency", "user" : "isw-bibliothek", "description" : "", "date" : "2025-04-14 11:32:09", "changeDate" : "2025-04-14 11:32:09", "count" : 2, "pub-type": "article", "journal": "Production Engineering", "year": "2024", "url": "https://doi.org/10.1007/s11740-024-01318-7", "author": [ "Lukas Steinle","Valentin Leipe","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Lukas", "last" : "Steinle"}, {"first" : "Valentin", "last" : "Leipe"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "abstract": "Electrically preloaded rack-and-pinion drives are typically utilized in machine tools to precisely move heavy loads over long travel distances. In the state of the art, the preload torque is commonly set to a constant value during commissioning. This poses a conflict of objectives between maximizing performance and minimizing energy consumption. To resolve this, this publication presents a novel approach to automatically adapt the preload torque during operation. For this purpose, the established preload control is extended by a simple control law that adapts the preload torque to the current operating state within the permissible limits. This way, higher preload torques are only applied, if the resulting higher system stiffness is beneficial for the drive performance. Otherwise, the preload torque is reduced to save energy. The automatic preload adaptation is experimentally validated on a test system with industry standard components. This involves both system-theoretical analyses and practical test scenarios.", "issn" : "1863-7353", "doi" : "10.1007/s11740-024-01318-7", "bibtexKey": "Steinle2024" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26bab692b888b026e2e24994834f92bda/isw-bibliothek", "tags" : [ "rpd","accuracy","control","isw" ], "intraHash" : "6bab692b888b026e2e24994834f92bda", "interHash" : "5487abcd7c60033f12c0646f0bff8cf1", "label" : "Dual motor position feedback control for electrically preloaded rack-and-pinion drive systems to increase accuracy", "user" : "isw-bibliothek", "description" : "", "date" : "2024-07-29 10:10:58", "changeDate" : "2024-07-29 10:10:58", "count" : 2, "pub-type": "article", "journal": "CIRP Annals","publisher":"Elsevier BV", "year": "2024", "url": "http://dx.doi.org/10.1016/j.cirp.2024.04.087", "author": [ "Alexander Verl","Valentin Leipe" ], "authors": [ {"first" : "Alexander", "last" : "Verl"}, {"first" : "Valentin", "last" : "Leipe"} ], "volume": "73","number": "1","pages": "313\u2013316", "issn" : "0007-8506", "doi" : "10.1016/j.cirp.2024.04.087", "bibtexKey": "Verl_2024" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2312f2a3d0a0c38b4731911f0b1484fd6/isw-bibliothek", "tags" : [ "ballscrew","control","isw" ], "intraHash" : "312f2a3d0a0c38b4731911f0b1484fd6", "interHash" : "780c4699d0a8e9a89e4e7c6cab872fc9", "label" : "Dynamiksteigerung von Kugelgewindetrieben durch modellbasierte Lageregelung der nachgiebigen Mechanik", "user" : "isw-bibliothek", "description" : "", "date" : "2023-11-27 11:46:57", "changeDate" : "2023-11-27 11:46:57", "count" : 6, "pub-type": "phdthesis", "year": "2023", "url": "", "author": [ "Christoph Hinze" ], "authors": [ {"first" : "Christoph", "last" : "Hinze"} ], "editor": [ "Oliver Riedel","Alexander Verl","Andreas Wortmann" ], "editors": [ {"first" : "Oliver", "last" : "Riedel"}, {"first" : "Alexander", "last" : "Verl"}, {"first" : "Andreas", "last" : "Wortmann"} ], "isbn" : "978-3-8396-1940-7", "language" : "de", "bibtexKey": "hinze2023dynamiksteigerung" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2946cd122b4e28e81758ff00aec952d47/isw-bibliothek", "tags" : [ "robot","test","control","cable","preload","isw","rig","winch" ], "intraHash" : "946cd122b4e28e81758ff00aec952d47", "interHash" : "85d3093ad18a976088ffef4a74c46b38", "label" : "Development of a Cable Actuator Test Rig for Identification of Dynamic Running Properties of Synthetic Fiber Ropes", "user" : "isw-bibliothek", "description" : "", "date" : "2023-10-16 12:15:18", "changeDate" : "2023-10-16 12:15:18", "count" : 1, "pub-type": "article", "journal": "Volume 2023","publisher":"Wissenschaftliche Gesellschaft für Technische Logistik", "year": "2023", "url": "https://www.logistics-journal.de/proceedings/2023/5804", "author": [ "Thomas Reichenbach","Felix Trautwein","Pott Andreas","Verl Alexander" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Pott", "last" : "Andreas"}, {"first" : "Verl", "last" : "Alexander"} ], "pages": "Issue 1", "copyright" : "cc-by", "language" : "en", "doi" : "10.2195/LJ_PROC_REICHENBACH_EN_202310_01", "bibtexKey": "https://doi.org/10.2195/lj_proc_reichenbach_en_202310_01" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2d81dfc143c9f87bcd8d8788fc47ba735/isw-bibliothek", "tags" : [ "motion","planar","logistics","control","decentralized","isw","motors" ], "intraHash" : "d81dfc143c9f87bcd8d8788fc47ba735", "interHash" : "0ef47d9aa7942a647de935ea2e371ad0", "label" : "Decentralized Motion Control for a Novel Planar Motor Intralogistics System", "user" : "isw-bibliothek", "description" : "", "date" : "2023-09-13 10:33:26", "changeDate" : "2023-09-13 10:35:43", "count" : 2, "pub-type": "inproceedings", "booktitle": "2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE)","publisher":"IEEE", "year": "2023", "url": "https://doi.org/10.1109%2Fisie51358.2023.10227969", "author": [ "Lukas Steinle","Nico Helfesrieder","Armin Lechler","Alexander Verl","Ali Montazeri","Jinfan Wang" ], "authors": [ {"first" : "Lukas", "last" : "Steinle"}, {"first" : "Nico", "last" : "Helfesrieder"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"}, {"first" : "Ali", "last" : "Montazeri"}, {"first" : "Jinfan", "last" : "Wang"} ], "doi" : "10.1109/isie51358.2023.10227969", "bibtexKey": "Steinle_2023" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2145c820c48ccd90c6bde35ab639edac2/isw-bibliothek", "tags" : [ "test-rig","cable-robot","slip","control","cdpr","xrh","isw","friction" ], "intraHash" : "145c820c48ccd90c6bde35ab639edac2", "interHash" : "0078252a3adb4bc26fbe66b02cb91a27", "label" : "Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen", "user" : "isw-bibliothek", "description" : "", "date" : "2023-08-23 12:44:16", "changeDate" : "2023-08-23 12:44:16", "count" : 1, "pub-type": "article", "journal": "antriebstechnik", "year": "2023", "url": "https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40", "author": [ "Thomas Reichenbach","Alexander Verl" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Vereinigte Fachverlage GmbH" ], "editors": [ {"first" : "Vereinigte Fachverlage", "last" : "GmbH"} ], "volume": "2023","number": "09","pages": "40-42", "bibtexKey": "reichenbach2023seilwindenprfstand" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/278531a7dc7f7675ba7daa1b0ff3f74c0/isw-bibliothek", "tags" : [ "ballscrew","control","isw" ], "intraHash" : "78531a7dc7f7675ba7daa1b0ff3f74c0", "interHash" : "6cb8cdb9faf7ff07b673e762b606e0b6", "label" : "Increasing the dynamic accuracy of ball screw drives with quasi-sliding-mode (qSMC) position control", "user" : "isw-bibliothek", "description" : "", "date" : "2023-06-29 12:18:12", "changeDate" : "2023-06-29 12:18:12", "count" : 2, "pub-type": "article", "journal": "CIRP Annals","publisher":"Elsevier BV", "year": "2023", "url": "https://doi.org/10.1016%2Fj.cirp.2023.04.081", "author": [ "Alexander Verl","Christoph Hinze" ], "authors": [ {"first" : "Alexander", "last" : "Verl"}, {"first" : "Christoph", "last" : "Hinze"} ], "doi" : "10.1016/j.cirp.2023.04.081", "bibtexKey": "Verl_2023" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/236df0363d164c0b6c7cc945470a632df/isw-bibliothek", "tags" : [ "ballscrew","feeddrive","ICM","control","isw","drive" ], "intraHash" : "36df0363d164c0b6c7cc945470a632df", "interHash" : "221126a7b1e99837365280b98f83b75d", "label" : "Robust µ parameterization with low tuning complexity of cascaded control for feed drives", "user" : "isw-bibliothek", "description" : "", "date" : "2023-06-29 12:16:43", "changeDate" : "2023-06-29 12:16:43", "count" : 2, "pub-type": "article", "journal": "Control Engineering Practice","publisher":"Elsevier BV", "year": "2023", "url": "https://doi.org/10.1016%2Fj.conengprac.2023.105607", "author": [ "Haijia Xu","Christoph Hinze","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Haijia", "last" : "Xu"}, {"first" : "Christoph", "last" : "Hinze"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "volume": "138","pages": "105607", "doi" : "10.1016/j.conengprac.2023.105607", "bibtexKey": "Xu_2023" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2fbb01c688170ca849712a919ea4e93c9/isw-bibliothek", "tags" : [ "control","isw","mpc" ], "intraHash" : "fbb01c688170ca849712a919ea4e93c9", "interHash" : "22428af23a5bce75e4f1c4b8279a4fbf", "label" : "Model predictive control for compliant feed drives with offset-free tracking behavior", "user" : "isw-bibliothek", "description" : "", "date" : "2023-05-30 12:09:40", "changeDate" : "2023-05-30 12:09:40", "count" : 2, "pub-type": "article", "journal": "Production Engineering", "year": "2023", "url": "https://doi.org/10.1007/s11740-023-01206-6", "author": [ "Valentin Leipe","Christoph Hinze","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Valentin", "last" : "Leipe"}, {"first" : "Christoph", "last" : "Hinze"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "abstract": "Industrial machine tool feed drives are predominantly controlled by cascade control due to their low tuning complexity and inherent robustness. However, the cascaded structure requires the inner cascades to have higher dynamics than the outer cascades, which limits the achievable dynamic accuracy. Direct control approaches, which substitute the position and velocity cascade, offer the potential to utilize the unused potential. A promising approach is model predictive control (MPC), which optimizes the manipulated variable with a plant model along a prediction horizon. However, model uncertainties between the nominal model and the real plant lead to tracking errors. Therefore, this paper presents, a linear MPC (LMPC) and an adaptive MPC (AMPC) with an additional integral action to robustly compensate for model mismatches. Both controllers use a compliant model, are real-time capable with a sample rate of \\$\\$\\\\2\\\\backslash,\\backslashtextrm\\kHz\\\\\\$\\$and consider state and input space constraints. The AMPC accounts for position-varying stiffness and friction. The controllers are experimentally compared with classical P-PI cascaded control on a ball screw drive. They show a tracking error reduction of \\$\\$\\\\37\\\\\\backslash,\\backslash\\%\\\\\\$\\$(LMPC) and \\$\\$\\\\44\\\\\\backslash,\\backslash\\%\\\\\\$\\$(AMPC) during a high speed motion profile and an increase in bandwidth of \\$\\$\\\\180\\\\\\backslash,\\backslash\\%\\\\\\$\\$(LMPC) and \\$\\$\\\\184\\\\\\backslash,\\backslash\\%\\\\\\$\\$(AMPC), resulting in significantly improved dynamic accuracy.", "issn" : "1863-7353", "doi" : "10.1007/s11740-023-01206-6", "bibtexKey": "Leipe2023" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/28c467ec94f41139517cd92483654e0e0/isw-bibliothek", "tags" : [ "fixture","isw-2022","control","isw" ], "intraHash" : "8c467ec94f41139517cd92483654e0e0", "interHash" : "490c5a027edb7fb2bcd2afa01af936b0", "label" : "Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces", "user" : "isw-bibliothek", "description" : "", "date" : "2022-11-07 12:40:31", "changeDate" : "2022-11-07 11:40:31", "count" : 1, "pub-type": "article", "journal": "Procedia CIRP", "year": "2022", "url": "https://www.sciencedirect.com/science/article/pii/S221282712201513X", "author": [ "Andreas Schütz","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Andreas", "last" : "Schütz"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "volume": "115","pages": "226-231", "doi" : "10.1016/j.procir.2022.10.078", "bibtexKey": "noauthororeditor" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2cb79e784e63b05a8b49e5e25e36a31f2/isw-bibliothek", "tags" : [ "simulation","control","isw" ], "intraHash" : "cb79e784e63b05a8b49e5e25e36a31f2", "interHash" : "1483000c9217e543ce60eab819fae911", "label" : "Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization", "user" : "isw-bibliothek", "description" : "", "date" : "2022-10-28 13:58:16", "changeDate" : "2022-10-28 12:36:39", "count" : 2, "pub-type": "article", "journal": "Procedia CIRP","publisher":"Elsevier BV", "year": "2022", "url": "https://doi.org/10.1016%2Fj.procir.2022.05.105", "author": [ "Benedikt Schmucker","Felix Trautwein","Roman Hartl","Armin Lechler","Michael F. Zaeh","Alexander Verl" ], "authors": [ {"first" : "Benedikt", "last" : "Schmucker"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Roman", "last" : "Hartl"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Michael F.", "last" : "Zaeh"}, {"first" : "Alexander", "last" : "Verl"} ], "volume": "107","pages": "1041--1046", "doi" : "10.1016/j.procir.2022.05.105", "bibtexKey": "Schmucker_2022" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2ef4aa237649faf5ef5676d0d335d90c6/isw-bibliothek", "tags" : [ "unlimited-rotation","cable-driven","cable-robot","control","xrh" ], "intraHash" : "ef4aa237649faf5ef5676d0d335d90c6", "interHash" : "a7911beef66bef9b6ccb25e2bd94be44", "label" : "Parallele Seilroboter: Endlose Rotation durch Hybridstruktur", "user" : "isw-bibliothek", "description" : "", "date" : "2022-09-07 16:18:56", "changeDate" : "2022-09-07 18:16:28", "count" : 1, "pub-type": "article", "journal": "Fachtagung VDI MECHATRONIK 2022", "year": "2022", "url": "https://tuprints.ulb.tu-darmstadt.de/id/eprint/20963", "author": [ "Thomas Reichenbach","Felix Trautwein","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Torsten Bertram","Burkhard Corves","Klaus Janschek","Stephan Rinderknecht" ], "editors": [ {"first" : "Torsten", "last" : "Bertram"}, {"first" : "Burkhard", "last" : "Corves"}, {"first" : "Klaus", "last" : "Janschek"}, {"first" : "Stephan", "last" : "Rinderknecht"} ], "copyright" : "Creative Commons Attribution 4.0 International", "doi" : "10.26083/TUPRINTS-00020963", "bibtexKey": "https://doi.org/10.26083/tuprints-00020963" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2a03a6622849de0365a970884422b75d6/isw-bibliothek", "tags" : [ "myown","SimTech","simulation","grk2198","DataCon","control","isw","Soft-Tissue-Robotics" ], "intraHash" : "a03a6622849de0365a970884422b75d6", "interHash" : "a17d194e82d3af518dc8ffa92e7fa61c", "label" : "Localization and Tracking of Deformable Linear Objects with Self Organizing Maps", "user" : "isw-bibliothek", "description" : "", "date" : "2022-06-27 16:59:03", "changeDate" : "2024-02-19 12:04:50", "count" : 2, "pub-type": "inproceedings", "booktitle": "Proceedings of the 54th International Symposium on Robotics (ISR)", "year": "2022", "url": "", "author": [ "Manuel Zürn","Markus Wnuk","Anja Schneider","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Manuel", "last" : "Zürn"}, {"first" : "Markus", "last" : "Wnuk"}, {"first" : "Anja", "last" : "Schneider"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "pages": "17-25", "bibtexKey": "zurn2022localization" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/20b447262b6bfbe0ef60dbbc1bd72a478/isw-bibliothek", "tags" : [ "objects","observer","linear","SimTech","grk2198","control","EXC2075","isw","deformable" ], "intraHash" : "0b447262b6bfbe0ef60dbbc1bd72a478", "interHash" : "f843e27e6620c7eab46709eae7f17b3f", "label" : "Kinematic Trajectory Following Control For Constrained Deformable Linear Objects", "user" : "isw-bibliothek", "description" : "", "date" : "2021-10-11 09:01:08", "changeDate" : "2024-02-19 12:17:54", "count" : 1, "pub-type": "inproceedings", "booktitle": "2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)", "year": "2021", "url": "", "author": [ "Manuel Zürn","Markus Wnuk","Christoph Hinze","Armin Lechler","Alexander Verl","Weiliang Xu" ], "authors": [ {"first" : "Manuel", "last" : "Zürn"}, {"first" : "Markus", "last" : "Wnuk"}, {"first" : "Christoph", "last" : "Hinze"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"}, {"first" : "Weiliang", "last" : "Xu"} ], "pages": "1701-1707","abstract": "deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.", "issn" : "2161-8089", "doi" : "10.1109/CASE49439.2021.9551613", "bibtexKey": "9551613" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/249c159de8836e104373426e8486579e1/isw-bibliothek", "tags" : [ "ball","screw","mode","cascade","sliding","drives","control","servo","Feed","isw" ], "intraHash" : "49c159de8836e104373426e8486579e1", "interHash" : "406fba33b5d13a3c121d4a15241eb9e7", "label" : "Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives", "user" : "isw-bibliothek", "description" : "", "date" : "2021-08-25 09:12:08", "changeDate" : "2021-08-25 07:12:08", "count" : 2, "pub-type": "article", "journal": "International Journal of Machine Tools and Manufacture", "year": "2021", "url": "https://www.sciencedirect.com/science/article/pii/S089069552100105X", "author": [ "Michael Neubauer","Felix Brenner","Christoph Hinze","Alexander Verl" ], "authors": [ {"first" : "Michael", "last" : "Neubauer"}, {"first" : "Felix", "last" : "Brenner"}, {"first" : "Christoph", "last" : "Hinze"}, {"first" : "Alexander", "last" : "Verl"} ], "abstract": "The precision of machine tools is essentially determined by the feed drive control. To improve the dynamic behavior of elastic feed drives, this paper presents a novel position control concept, substituting the conventional P position controller of the industrial cascade control with a continuous sliding mode controller (SMC) together with a Kalman Filter for state estimation. The novelty of this approach lies in the focus on practical applicability: The underlying PI-cascade structure leads to low commissioning effort and the SMC controller\u2019s parameterization is simplified to a single tuning parameter. A general compliant feed drive model is used as plant, whose parameters usually are already known from commissioning of the velocity controller. The SMC position controller is derived analytically and its stability and damping properties are investigated for the dominating mechanical mode for uncertainties of the model parameters and a wide range of controller gains. The effectiveness of the SMC-PI controller is validated for an industrial ball screw feed drive. Extensive experimental results show a considerable decrease of tracking errors in command tracking, disturbance rejection and for a high speed cutting (HSC) milling experiment compared to P-PI cascade control, while stability margins remain almost independent of the controller gains. The parameterization is discussed on the basis of a theoretical analysis and measuring results. Furthermore, excellent robustness properties regarding model errors are demonstrated.", "issn" : "0890-6955", "doi" : "https://doi.org/10.1016/j.ijmachtools.2021.103796", "bibtexKey": "NEUBAUER2021103796" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/28131a10259df0fbfee4fd1123b9ce922/isw-bibliothek", "tags" : [ "machining","control","isw" ], "intraHash" : "8131a10259df0fbfee4fd1123b9ce922", "interHash" : "3448573917052735b284de5404ec3842", "label" : "Acceleration-based disturbance compensation for elastic rack-and-pinion drives", "user" : "isw-bibliothek", "description" : "", "date" : "2021-07-20 08:36:27", "changeDate" : "2021-07-20 06:38:05", "count" : 2, "pub-type": "article", "journal": "Production Engineering - Research and Development", "year": "2021", "url": "https://doi.org/10.1007/s11740-021-01068-w", "author": [ "Felix Brenner","Armin Lechler","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Brenner"}, {"first" : "Armin", "last" : "Lechler"}, {"first" : "Alexander", "last" : "Verl"} ], "abstract": "Rack-and-pinion drives are mainly used for large machine tools and are often operated with indirect position control. Due to the lack of state information on the output side, this results in reduced accuracy regarding the table position. In addition, the system can only react inadequately to disturbances outside the control loop, meaning that often insufficient results can be achieved in typical application scenarios such as milling. To meet the increasing dynamic and accuracy requirements of the modern manufacturing industry, this paper presents a highly dynamic acceleration-based disturbance compensation method. For this purpose, the table acceleration is estimated using a dynamical model of the drive train and compared to the signal from an additional acceleration sensor attached to the machine table. Based on the resulting difference, an additional compensation torque is provided, which suppresses the disturbance in counterphase. The approach is tested experimentally on an open control platform with industrial drive components and the behavior is investigated based on compliance frequency responses and externally applied milling forces. At the same time, a standardized parametrization methodology is developed and the robustness is evaluated by varying table masses. In summary, a considerable improvement of the dynamic disturbance behavior can be achieved compared to the conventional system without compensator.", "issn" : "1863-7353", "doi" : "10.1007/s11740-021-01068-w", "bibtexKey": "Brenner2021" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c8a1855cf5fe8a11a360f974580e16be/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","control","xrh" ], "intraHash" : "c8a1855cf5fe8a11a360f974580e16be", "interHash" : "de8109fc0b40fc21ed60c1be573a717d", "label" : "Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis", "user" : "isw-bibliothek", "description" : "", "date" : "2021-07-13 09:06:47", "changeDate" : "2021-09-28 12:04:39", "count" : 1, "pub-type": "inproceedings", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer International Publishing","address":"Cham", "year": "2021", "url": "https://doi.org/10.1007/978-3-030-75789-2_19", "author": [ "Thomas Reichenbach","Kathrin Rausch","Felix Trautwein","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Kathrin", "last" : "Rausch"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Marc Gouttefarde","Tobias Bruckmann","Andreas Pott" ], "editors": [ {"first" : "Marc", "last" : "Gouttefarde"}, {"first" : "Tobias", "last" : "Bruckmann"}, {"first" : "Andreas", "last" : "Pott"} ], "pages": "230--242","abstract": "One important design criteria of a cable-driven parallel robot is its workspace. Disturbance effects on drive systems, pulley mechanisms and cables have a major impact on the workspace due to their influence on cable forces. Thus, the computed wrench-feasible workspace with ideal kinematic constraints may not be valid while operating the platform of a cable robot. To ensure that the platform moves within the workspace, cable forces can be controlled, whereby kinematic inaccuracies such as calibration errors affecting the platform's positional accuracy. Hence, in this paper a concept of the velocity based hybrid position-force controller is presented in order to pretension cable forces on one hand, and ensure positioning accuracy on the other hand. The controller stability is investigated on extreme poses outside the wrench-feasible workspace hull of a dynamic model of a planar cable robot in simulation environment. Thereupon, the hybrid controller was implemented in a real-time control system and analyzed on the cable robot setup COPacabana with experiments inside and outside the computed workspace border. The analysis of measured signals is based on statistical investigation by performing multiple measurements of the same platform trajectory. Both, simulation and experiments show that the proposed velocity based hybrid position-force controller is feasible and can be applied to move the platform outside the workspace.", "isbn" : "978-3-030-75789-2", "doi" : "10.1007/978-3-030-75789-2_19", "bibtexKey": "10.1007/978-3-030-75789-2_19" } ] }