10 papers
Geometric Robot Calibration Using a Calibration Plate
Bernhard Rameder, Hubert Gattringer, Andreas Mueller
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative m…
An approach for combining transparency and motion assistance of a lower body exoskeleton
Jakob Ziegler, Bernhard Rameder, Hubert Gattringer +1
In this paper, an approach for gait assistance with a lower body exoskeleton is described. Two concepts, transparency and motion assistance, are combined. The transparent mode, whe…
Time-Optimal Transport of Loosely Placed Liquid Filled Cups along Prescribed Paths
Klaus Zauner, Hubert Gattringer, Andreas Mueller
Handling loosely placed objects with robotic manipulators is a difficult task from the point of view of trajectory planning and control. This becomes even more challenging when the…
Workspace Registration and Collision Detection for Industrial Robotics Applications
Klaus Zauner, Josef El Dib, Hubert Gattringer +1
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. T…
An Automated Tape Laying System Employing a Uniaxial Force Control Device
Bernhard Rameder, Hubert Gattringer, Ronald Naderer +1
This paper deals with the design of a cost effective automated tape laying system (ATL system) with integrated uniaxial force control to ensure the necessary compaction forces as w…
A Parameter-Linear Formulation of the Optimal Path Following Problem for Robotic Manipulator
Tobias Marauli, Hubert Gattringer, Andreas Mueller
In this paper the computational challenges of time-optimal path following are addressed. The standard approach is to minimize the travel time, which inevitably leads to singulariti…