{ "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/2a928891e37cb4e52c8c870dbf3159b54/isw-bibliothek", "tags" : [ "cable-driven","isw","parallel","robot" ], "intraHash" : "a928891e37cb4e52c8c870dbf3159b54", "interHash" : "519db743b0465fd655927372cf322deb", "label" : "Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots", "user" : "isw-bibliothek", "description" : "", "date" : "2025-07-04 09:36:06", "changeDate" : "2025-07-04 09:36:06", "count" : 2, "pub-type": "inproceedings", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2025", "url": "", "author": [ "Thomas Reichenbach","Johannes Clar","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Johannes", "last" : "Clar"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Darwin Lau","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Darwin", "last" : "Lau"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "pages": "209--221","abstract": "This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30\\% to 58\\%, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption.", "isbn" : "978-3-031-94608-0", "bibtexKey": "10.1007/978-3-031-94608-0_17" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/247c9da17a6b417008c9168c412089308/jmueller", "tags" : [ "(structures),","3D","Joints,","Kinematics,","Manipulator","Mathematical","SPR","Vectors,","actuated","actuators,","adaptive","analysis,","condition,","constraint","control,","deformation,","displacement,","dynamics,","forward","hydraulic","indeterminate","inverse","joint,","kinematic","kinematics,","loading","manipulator","model,","modeling,","numerical","parallel","passive","position","prismatic","reduction,","robot","shell","shells","sobek","statically","statistical","stress","structural","structure,","support","supports,","system,","systems","vibration" ], "intraHash" : "47c9da17a6b417008c9168c412089308", "interHash" : "e5d1eadd93a17d8b1a524648271abd89", "label" : "Kinematic modeling of a hydraulically actuated 3-SPR-parallel manipulator for an adaptive shell structure", "user" : "jmueller", "description" : "", "date" : "2023-11-27 15:10:57", "changeDate" : "2023-11-27 15:10:57", "count" : 2, "pub-type": "inproceedings", "booktitle": "2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 9-12, 2013, Wollongong, Australia", "year": "2013", "url": "", "author": [ "Mark Wörner","Martin Weickgenannt","Stefan Neuhäuser","Christoph Göhrle","Werner Sobek","Oliver Sawodny" ], "authors": [ {"first" : "Mark", "last" : "Wörner"}, {"first" : "Martin", "last" : "Weickgenannt"}, {"first" : "Stefan", "last" : "Neuhäuser"}, {"first" : "Christoph", "last" : "Göhrle"}, {"first" : "Werner", "last" : "Sobek"}, {"first" : "Oliver", "last" : "Sawodny"} ], "pages": "1330--1336","abstract": "This paper describes a 3-SPR-parallel robot system with hydraulic actuated prismatic joints that was developed within the context of ongoing research on adaptive shell structures. The potential of adaptive structures is based on the principle of providing means for the system to accommodate a variety of loading conditions (earthquakes, wind, snow) by actively inducing deformations and forces in response to external loads. Thus, stresses and vibrations in the structure are reduced, maintaining or exceeding the performance of passive structures while using much less material and, correspondingly, resources. Adaptive structures, in comparison to traditional systems, contain sensors, actuators, and control systems. One method of actuation is the controlled positioning of the support points of structures. Assuming a statically indeterminate structure, the displacement of the supports will introduce structural deformations and forces. For three-dimensional structures such as the double-curved shell structure under investigation, translational positioning of the support must be provided in all directions. One method to achieve this is the use of 3-SPR-parallel mechanism. The implementation requires a unique and real time solution of the forward and inverse kinematics of the mechanism in order to relate actual displacement of the structural support of the shell to the displacement of the actuators. The solution presented here is based on an analytical approach taking into account the constraint conditions of the 3-SPR-parallel mechanism. The method is validated by numerical analysis of the workspace and then implemented on a reference system.", "doi" : "10.1109/AIM.2013.6584279", "bibtexKey": "worner_kinematic_2013" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c65d764bc2c264c0580d931be165c73a/intcdc", "tags" : [ "cable-driven","robot","parallel","peer","rp27","cable-robot","reconfiguration","from:isw-bibliothek" ], "intraHash" : "c65d764bc2c264c0580d931be165c73a", "interHash" : "f301364c0ab3ac7475ac885da7636cc4", "label" : "A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots", "user" : "intcdc", "description" : "", "date" : "2023-06-15 09:01:46", "changeDate" : "2023-06-15 09:01:46", "count" : 3, "pub-type": "inbook", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2023", "url": "https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21", "author": [ "Felix Trautwein","Thomas Reichenbach","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Stéphane Caro","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Stéphane", "last" : "Caro"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "volume": "132","pages": "261--272", "isbn" : "9783031323218", "doi" : "10.1007/978-3-031-32322-5_21", "bibtexKey": "trautwein2023predictorcorrectorscheme" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2c65d764bc2c264c0580d931be165c73a/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","parallel","peer","reconfiguration","robot","rp27" ], "intraHash" : "c65d764bc2c264c0580d931be165c73a", "interHash" : "f301364c0ab3ac7475ac885da7636cc4", "label" : "A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots", "user" : "isw-bibliothek", "description" : "", "date" : "2023-06-15 08:53:01", "changeDate" : "2023-06-15 09:01:46", "count" : 3, "pub-type": "inbook", "booktitle": "Cable-Driven Parallel Robots","publisher":"Springer Nature Switzerland","address":"Cham", "year": "2023", "url": "https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21", "author": [ "Felix Trautwein","Thomas Reichenbach","Andreas Pott","Alexander Verl" ], "authors": [ {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Thomas", "last" : "Reichenbach"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Alexander", "last" : "Verl"} ], "editor": [ "Stéphane Caro","Andreas Pott","Tobias Bruckmann" ], "editors": [ {"first" : "Stéphane", "last" : "Caro"}, {"first" : "Andreas", "last" : "Pott"}, {"first" : "Tobias", "last" : "Bruckmann"} ], "volume": "132","pages": "261--272", "isbn" : "9783031323218", "doi" : "10.1007/978-3-031-32322-5_21", "bibtexKey": "trautwein2023predictorcorrectorscheme" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/24e22355557c192443928b1a3b823b53e/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","isw","parallel","robot" ], "intraHash" : "4e22355557c192443928b1a3b823b53e", "interHash" : "dd29c05b116ea8db93c20512a3ff86b3", "label" : "Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies", "user" : "isw-bibliothek", "description" : "", "date" : "2019-03-24 15:08:54", "changeDate" : "2019-03-24 14:08:54", "count" : 1, "pub-type": "inproceedings", "booktitle": "Advances in Robot Kinematics 2018","publisher":"Springer International Publishing","address":"Cham", "year": "2019", "url": "", "author": [ "Philipp Tempel","Felix Trautwein","Andreas Pott" ], "authors": [ {"first" : "Philipp", "last" : "Tempel"}, {"first" : "Felix", "last" : "Trautwein"}, {"first" : "Andreas", "last" : "Pott"} ], "editor": [ "Jadran Lenarcic","Vincenzo Parenti-Castelli" ], "editors": [ {"first" : "Jadran", "last" : "Lenarcic"}, {"first" : "Vincenzo", "last" : "Parenti-Castelli"} ], "pages": "258--265","abstract": "Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.", "isbn" : "978-3-319-93188-3", "bibtexKey": "10.1007/978-3-319-93188-3_30" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/26020da83bbfb1f24aa636fbe31747f8f/isw-bibliothek", "tags" : [ "cable-driven","cable-robot","isw","parallel","robot" ], "intraHash" : "6020da83bbfb1f24aa636fbe31747f8f", "interHash" : "f4aadb6e62c9941907fee5820e8a0296", "label" : "A Unified Approach to Forward Kinematics for Cable-Driven Parallel Robots Based on Energy", "user" : "isw-bibliothek", "description" : "", "date" : "2019-03-24 15:07:51", "changeDate" : "2019-03-24 14:07:51", "count" : 1, "pub-type": "inproceedings", "booktitle": "Advances in Robot Kinematics 2018","publisher":"Springer International Publishing","address":"Cham", "year": "2019", "url": "", "author": [ "Andreas Pott","Philipp Tempel" ], "authors": [ {"first" : "Andreas", "last" : "Pott"}, {"first" : "Philipp", "last" : "Tempel"} ], "editor": [ "Jadran Lenarcic","Vincenzo Parenti-Castelli" ], "editors": [ {"first" : "Jadran", "last" : "Lenarcic"}, {"first" : "Vincenzo", "last" : "Parenti-Castelli"} ], "pages": "401--409","abstract": "This paper deals with a unified approach to forward kinematics for both over-constrained and under-constrained cable robots. Moreover, little assumptions on the cable model are required. This makes the proposed method applicable to a variety of currently discussed cable models including the standard model, an elastic cable model, static cable sagging, or even finite elements model. Solutions to the forward kinematics problem are computed by minimizing potential energy in the cable robot. As shown in this paper, the method unifies forward kinematics of both over-constrained and under-constrained cable robots.", "isbn" : "978-3-319-93188-3", "bibtexKey": "10.1007/978-3-319-93188-3_46" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2bce9b23147e966eb302e5e7d71df42e4/andreaspott", "tags" : [ "Import180214;","Mechanism;Redundant","cable-driven","myown;","parallel","robot" ], "intraHash" : "bce9b23147e966eb302e5e7d71df42e4", "interHash" : "047cad00afa5b2830a97fe924a6d44a2", "label" : "System identification and cable force control for a cable-driven parallel robot with industrial servo drives.", "user" : "andreaspott", "description" : "", "date" : "2018-02-14 08:37:06", "changeDate" : "2018-02-14 08:10:51", "count" : 3, "pub-type": "inproceedings", "booktitle": "IEEE International Conference on Robotics and Automation (ICRA), 2014","publisher":"IEEE", "year": "2014", "url": "", "author": [ "Werner Kraus","Valentin Schmidt","Puneeth Rajendra","Andreas Pott" ], "authors": [ {"first" : "Werner", "last" : "Kraus"}, {"first" : "Valentin", "last" : "Schmidt"}, {"first" : "Puneeth", "last" : "Rajendra"}, {"first" : "Andreas", "last" : "Pott"} ], "pages": "5921-5926","abstract": "In a cable-driven parallel robot, elastic cables are used to manipulate the end effector in the workspace. In this paper we present a dynamic analysis and system identification for the complete actuator unit of a cable robot including servo controller, winch, cable, cable force sensor and field bus communication. We establish a second-order system with dead time as an analagous model. Based on this investigation, we propose the design and stability analysis of a cable force controller. We present the implementation of feed-forward and integral controllers based on a stiffness model of the cables. As the platform position is not observable the challenge is to control the cable force while maintaining the positional accuracy. Experimental evaluation of the force controller shows, that the absolute positional accuracy is even improved.", "bibtexKey": "Kraus2014" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2250e0fa0b5a0a2ef8f54ec695dcc1700/peterpott", "tags" : [ "aspects;Haptic","aspects;ergonomics;gall","bladder","control","ergonomics;medical","extraction;grasping;haptic","feedback;instrument","feedback;workspace","imt-pott-alt","instruments;master","interface;minimally","interfaces","interfaces;Instruments;Kinematics;Manipulators;Surgery;User","intervention;robotic","invasive","kinematics;surgery;ergonomic","kinematics;teleoperated","model;rectum","movements;point-and-touch-task;porcine","myown","orifices;non-achievable","parallel","platform;teleoperation","precision;intra-corporal","resection","robot","robot;knotting","robotics;robot","scaling;natural","setup;transanal","single-port","slave","surgery;movement","surgery;visual","system;slave","tasks;laparoscopic" ], "intraHash" : "250e0fa0b5a0a2ef8f54ec695dcc1700", "interHash" : "080948a18217167c1f4e0798903ca470", "label" : "A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects", "user" : "peterpott", "description" : "", "date" : "2018-01-24 09:18:43", "changeDate" : "2018-01-24 08:18:55", "count" : 2, "pub-type": "inproceedings", "booktitle": "2017 IEEE World Haptics Conference (WHC)", "year": "2017", "url": "http://tubiblio.ulb.tu-darmstadt.de/89058/", "author": [ "C. Hatzfeld","C. Neupert","S. Matich","M. Braun","J. Bilz","J. Johannink","J. Miller","Peter P. Pott","H. F. Schlaak","M. Kupnik","R. Werthschützky","A. Kirschniak" ], "authors": [ {"first" : "C.", "last" : "Hatzfeld"}, {"first" : "C.", "last" : "Neupert"}, {"first" : "S.", "last" : "Matich"}, {"first" : "M.", "last" : "Braun"}, {"first" : "J.", "last" : "Bilz"}, {"first" : "J.", "last" : "Johannink"}, {"first" : "J.", "last" : "Miller"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "H. F.", "last" : "Schlaak"}, {"first" : "M.", "last" : "Kupnik"}, {"first" : "R.", "last" : "Werthschützky"}, {"first" : "A.", "last" : "Kirschniak"} ], "pages": "1--6","abstract": "We present a new teleoperation setup for minimally invasive single-port surgery through natural orifices. The system consists of an intra-corporal parallel slave robot with two instrument arms and a corresponding master interface with four degrees of freedom and grasping. The master interface mimicks the slave robot kinematics to prevent non-achievable movements. With a workspace of ø 60 mm $\\times$ 85 mm, interaction forces of up to 5 N and mean speeds of up to 327 mm/s the robot is designed to perform a rectum resection intervention, an operation hardly possible with conventional laparoscopic instruments. In this work, we address several ergonomic aspects of the setup, including surgeon's pose, movement scaling, visual feedback, and haptic feedback. Two experiments were performed to investigate the accuracy and dexterity of the robotic system compared to conventional single-port systems. We found a significant decrease of errors in a point-and-touch-task when using the robot, but no effect on the duration of the task. Surgeons were able to perform suturing and knotting tasks as well as a gall bladder extraction in a porcine model with the robot in an hands on experiment. These experiments showed a good intuitivity and a high instrument control precision as described by the participants.", "bibtexKey": "hatzfeld2017teleoperated" } , { "type" : "Publication", "id" : "https://puma.ub.uni-stuttgart.de/bibtex/2250e0fa0b5a0a2ef8f54ec695dcc1700/droessler", "tags" : [ "aspects;Haptic","aspects;ergonomics;gall","bladder","control","ergonomics;medical","extraction;grasping;haptic","feedback;instrument","feedback;workspace","imt-pott-alt","instruments;master","interface;minimally","interfaces","interfaces;Instruments;Kinematics;Manipulators;Surgery;User","intervention;robotic","invasive","kinematics;surgery;ergonomic","kinematics;teleoperated","model;rectum","movements;point-and-touch-task;porcine","orifices;non-achievable","parallel","platform;teleoperation","precision;intra-corporal","resection","robot","robot;knotting","robotics;robot","scaling;natural","setup;transanal","single-port","slave","surgery;movement","surgery;visual","system;slave","tasks;laparoscopic" ], "intraHash" : "250e0fa0b5a0a2ef8f54ec695dcc1700", "interHash" : "080948a18217167c1f4e0798903ca470", "label" : "A teleoperated platform for transanal single-port surgery: Ergonomics and workspace aspects", "user" : "droessler", "description" : "", "date" : "2017-10-26 19:04:07", "changeDate" : "2018-02-28 22:16:40", "count" : 2, "pub-type": "inproceedings", "booktitle": "2017 IEEE World Haptics Conference (WHC)", "year": "2017", "url": "http://tubiblio.ulb.tu-darmstadt.de/89058/", "author": [ "C. Hatzfeld","C. Neupert","S. Matich","M. Braun","J. Bilz","J. Johannink","J. Miller","Peter P. Pott","H. F. Schlaak","M. Kupnik","R. Werthschützky","A. Kirschniak" ], "authors": [ {"first" : "C.", "last" : "Hatzfeld"}, {"first" : "C.", "last" : "Neupert"}, {"first" : "S.", "last" : "Matich"}, {"first" : "M.", "last" : "Braun"}, {"first" : "J.", "last" : "Bilz"}, {"first" : "J.", "last" : "Johannink"}, {"first" : "J.", "last" : "Miller"}, {"first" : "Peter P.", "last" : "Pott"}, {"first" : "H. F.", "last" : "Schlaak"}, {"first" : "M.", "last" : "Kupnik"}, {"first" : "R.", "last" : "Werthschützky"}, {"first" : "A.", "last" : "Kirschniak"} ], "pages": "1--6","abstract": "We present a new teleoperation setup for minimally invasive single-port surgery through natural orifices. The system consists of an intra-corporal parallel slave robot with two instrument arms and a corresponding master interface with four degrees of freedom and grasping. The master interface mimicks the slave robot kinematics to prevent non-achievable movements. With a workspace of ø 60 mm $\\times$ 85 mm, interaction forces of up to 5 N and mean speeds of up to 327 mm/s the robot is designed to perform a rectum resection intervention, an operation hardly possible with conventional laparoscopic instruments. In this work, we address several ergonomic aspects of the setup, including surgeon's pose, movement scaling, visual feedback, and haptic feedback. Two experiments were performed to investigate the accuracy and dexterity of the robotic system compared to conventional single-port systems. We found a significant decrease of errors in a point-and-touch-task when using the robot, but no effect on the duration of the task. Surgeons were able to perform suturing and knotting tasks as well as a gall bladder extraction in a porcine model with the robot in an hands on experiment. These experiments showed a good intuitivity and a high instrument control precision as described by the participants.", "groups" : "public", "intrahash" : "250e0fa0b5a0a2ef8f54ec695dcc1700", "interhash" : "080948a18217167c1f4e0798903ca470", "timestamp" : "2017-10-26 07:04:07", "username" : "droessler", "bibtexKey": "Hatzfeld2017" } ] }