Publications

Lukas Steinle, Valentin Leipe, Armin Lechler, and Alexander Verl. Automatic preload adaptation for rack-and-pinion drives to maximize performance and energy efficiency. Production Engineering, Nov 19, 2024. [PUMA: tool feed machine position control isw drive] URL

Alexander Verl, and Valentin Leipe. Dual motor position feedback control for electrically preloaded rack-and-pinion drive systems to increase accuracy. CIRP Annals, (73)1:313–316, Elsevier BV, 2024. [PUMA: rpd accuracy control isw] URL

Christoph Hinze. Dynamiksteigerung von Kugelgewindetrieben durch modellbasierte Lageregelung der nachgiebigen Mechanik. In Oliver Riedel, Alexander Verl, and Andreas Wortmann (Eds.), 2023. [PUMA: ballscrew control isw]

Thomas Reichenbach, Felix Trautwein, Pott Andreas, and Verl Alexander. Development of a Cable Actuator Test Rig for Identification of Dynamic Running Properties of Synthetic Fiber Ropes. Volume 2023, Issue 1, Wissenschaftliche Gesellschaft für Technische Logistik, 2023. [PUMA: robot test control cable preload isw rig winch] URL

Lukas Steinle, Nico Helfesrieder, Armin Lechler, Alexander Verl, Ali Montazeri, and Jinfan Wang. Decentralized Motion Control for a Novel Planar Motor Intralogistics System. 2023 IEEE 32nd International Symposium on Industrial Electronics (ISIE), IEEE, June 2023. [PUMA: motion planar logistics control decentralized isw motors] URL

Thomas Reichenbach, and Alexander Verl. Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen. In Vereinigte Fachverlage GmbH (Eds.), antriebstechnik, (2023)09:40-42, September 2023. [PUMA: test-rig cable-robot slip control cdpr xrh isw friction] URL

Alexander Verl, and Christoph Hinze. Increasing the dynamic accuracy of ball screw drives with quasi-sliding-mode (qSMC) position control. CIRP Annals, Elsevier BV, May 2023. [PUMA: ballscrew control isw] URL

Haijia Xu, Christoph Hinze, Armin Lechler, and Alexander Verl. Robust µ parameterization with low tuning complexity of cascaded control for feed drives. Control Engineering Practice, (138):105607, Elsevier BV, September 2023. [PUMA: ballscrew feeddrive ICM control isw drive] URL

Valentin Leipe, Christoph Hinze, Armin Lechler, and Alexander Verl. Model predictive control for compliant feed drives with offset-free tracking behavior. Production Engineering, May 22, 2023. [PUMA: control isw mpc] URL

Andreas Schütz, Armin Lechler, and Alexander Verl. Modelling for Control of Vacuum Grippers in automatically reconfigurable Fixturing Systems for thin-walled Workpieces. Procedia CIRP, (115):226-231, 2022. [PUMA: fixture isw-2022 control isw] URL

Benedikt Schmucker, Felix Trautwein, Roman Hartl, Armin Lechler, Michael F. Zaeh, and Alexander Verl. Online Parameterization of a Milling Force Model using an Intelligent System Architecture and Bayesian Optimization. Procedia CIRP, (107):1041--1046, Elsevier BV, 2022. [PUMA: simulation control isw] URL

Manuel Zürn, Markus Wnuk, Anja Schneider, Armin Lechler, and Alexander Verl. Localization and Tracking of Deformable Linear Objects with Self Organizing Maps. Proceedings of the 54th International Symposium on Robotics (ISR), 17-25, 2022. [PUMA: myown SimTech simulation grk2198 DataCon control isw Soft-Tissue-Robotics]

Manuel Zürn, Markus Wnuk, Christoph Hinze, Armin Lechler, Alexander Verl, and Weiliang Xu. Kinematic Trajectory Following Control For Constrained Deformable Linear Objects. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 1701-1707, August 2021. [PUMA: objects observer linear SimTech grk2198 control EXC2075 isw deformable]

Michael Neubauer, Felix Brenner, Christoph Hinze, and Alexander Verl. Cascaded sliding mode position control (SMC-PI) for an improved dynamic behavior of elastic feed drives. International Journal of Machine Tools and Manufacture, 2021. [PUMA: ball screw mode cascade sliding drives control servo Feed isw] URL

Felix Brenner, Armin Lechler, and Alexander Verl. Acceleration-based disturbance compensation for elastic rack-and-pinion drives. Production Engineering - Research and Development, Jul 19, 2021. [PUMA: machining control isw] URL

Benedikt Schmucker, Felix Trautwein, Thomas Semm, Armin. Lechler, Michael F. Zaeh, and Alexander. Verl. Implementation of an Intelligent System Architecture for Process Monitoring of Machine Tools. Procedia CIRP, (96):342-346, 2021. [PUMA: simulation control isw] URL

Alexander Schmidt, Florian Schellroth, Marc Fischer, Lukas Allimant, and Oliver Riedel. Reinforcement learning methods based on GPU accelerated industrial control hardware. Neural Computing and Applications, 2021. [PUMA: myown Real-time Industrial PLC Manufacturing Reinforcement learning GPU control isw] URL

Oliver Gerlach, Akos Csiszar, Armin Lechler, and Alexander Verl. Funktionale Programmiersprachen zur Entwicklung numerischer Steuerungen: Analyse von Potential und Einsatzmöglichkeiten. wt Werkstattstechnik online, (107)5:329--333, 2017. [PUMA: development nc xgh control isw programming] URL

Christian Friedrich, Andreas Stanicki, Markus Broecker, Armin Lechler, and Alexander Verl. A Robust Algorithm for Autotuning Controllers in Mechatronic Modules. WGP Congress 2014, (1018):451--458, Trans Tech Publications, November 2014. [PUMA: control isw]

Hendrik Vieler, Ali Karim, and Armin Lechler. Drive Based Damping for Robots with Secondary Encoders. 2015. [PUMA: robots control isw]