Three-Dimensional Position Control of Flexible Robot Arm and



Three-Dimensional Position Control of Flexible Robot Arm and
Chair of Microwave Technology
Prof. Dr.-Ing. Lorenz-Peter Schmidt
Prof. Dr.-Ing. Martin Vossiek
Three-Dimensional Position Control of Flexible Robot Arm and
Manipulator with Wireless Positioning System
Institute for Control Systems and Mechatronics
Darmstadt University of Technology, Darmstadt
German Research Foundation, KO 1867/9-1 und VO 1453/2-1
The major goal of this research project is the absolute position control of flexible/lightweight robot
arm with a wireless positioning system. The flexible/lightweight robot arm represents a strategy to
achieve design benefits, including lower cost, higher energy efficiency as well as safer human
machine interaction and improved mobility. The basic idea is a concept for absolute positioning
based on synthetic aperture secondary radar with assisting relative sensors, e.g. inertial sensors or
rotary encoders.
Development of 3D position control with synthetic aperture secondary radar concept
Control of robot tool center point trajectory and compensation of flexible arm vibration
Accurate wireless positioning and position control based on multirate kalman filter and
multilateral synthetic aperture secondary radar concept
Experimental indoor scenario of multilateral synthetic aperture
Illustration of probability density function of robot tool center point
secondary radar concept
with a cm-long aperture
Selected Publications:
Voigt, Th.; Konigorski, U.: “Ansätze für den Beobachterentwurf linearer Multiratenabtastsysteme“. in: Proceedings der
Mechatronik 2011-Konferenz des VDI, März/April 2011
Li, G.; Vossiek, M., “A Multilateral Synthetic Aperture Wireless Positioning Approach to Precise 3D Localization of a
Robot Tool Center Point”, in: Proceedings of the IEEE Radio Wireless Week 2011, IEEE Topical Conference on Wireless
Sensors and Sensor Networks, Phoenix, AZ, USA, Jan. 2011, pp. 37-40.
Lehrstuhl für Hochfrequenztechnik
Universität Erlangen-Nürnberg
Cauerstr. 9, 91058 Erlangen
Prof. Dr.-Ing. Martin Vossiek
Tel. +49 9131 8527213
Email: [email protected]

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