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Robotic arm

Brief Description: The 6dof robotic arm is a mechanical arm with 6 independant controlled rotating joints mounted on a platform. At the end of the arm different tools can be mounted.

This experimental robot arm is used to investigate and apply control concepts for robotic arms. Each joint can be controlled separately. Topics for investigation are

  • LPV-Control
  • Robust Control
  • System identification
  • Hybrid Position and Force control
  • imitation and reinforcement learning algorithms.

Related Publications:

  • Hoffmann, Christian; Hashemi, Seyed Mahdi; Abbas, Hossam Seddik; Werner, Herbert: "Benchmark Problem - Nonlinear Control of a 3-DOF Robotic Manipulator" at CDC 2013
  • Hashemi, Seyed Mahdi; Gürcüoğlu, Utku; Werner, Herbert: "Interaction Control of an Industrial Manipulator Using LPV Techniques" in Mechatronics 2013
  • Hoffmann, Christian; Hashemi, Seyed Mahdi; Abbas, Hossam Seddik; Werner, Herbert: "Closed-Loop Stability and Performance in LPV Control Based on a Reduced Parameter Set" at CDC 2012
  • Hashemi, Seyed Mahdi; Abbas, Hossam Seddik; Werner, Herbert: "Low-Complexity Linear Parameter-Varying Modeling and Control of a Robotic Manipulator" in Control Engineering Practice 2012
  • Hashemi, Seyed Mahdi; Gürcüoğlu, Utku; Werner, Herbert: "Hybrid Force/Motion Control of a Manipulator Using LPV Techniques" at CDC 2012
  • Paraiso, Christian Salah El-Dine; Hashemi, Seyed Mahdi; Werner, Herbert: "Black-Box versus Grey-Box LPV Identification to Control a Mechanical System" at CDC 2012
  • Hashemi, Seyed Mahdi; Werner, Herbert: "Gain-scheduled H-Infinity control of a robotic manipulator with nonlinear joint friction" in Automation and Control 2010
  • Hashemi, Seyed Mahdi; Abbas, Hossam Seddik; Werner, Herbert: "LPV modelling and identification of a robot manipulator using parameter set mapping" in Control Engineering Practice 2010
  • Hashemi, Seyed Mahdi; Abbas, Hossam Seddik; Werner, Herbert: "LPV modelling and control of a 2-DOF robotic manipulator using PCA-based parameter set mapping" at CDC 2009
  • Hashemi, Seyed Mahdi; Werner, Herbert: "Parameter Identification of a Robot Arm Using Separable Least Squares Technique" at ECC 2009
  • Abbas, Hossam Seddik; Hashemi, Seyed Mahdi; Werner, Herbert: "Decentralized LPV Gain-Scheduled PD Control of a Robotic Manipulator" in ASME 2009

Related Student Projects:

  • Pertzborn, Till: "Erweiterung und Evaluierung des Tischtennis Ballmodells zur Vorhersage der Balltrajektorie unter Berücksichtigung von Spin, Stoß auf Tennisplatte und Schläger", Bachelor Thesis 2016
  • Tretau, Oliver: "Comparison of two Learning Approaches on Discrete Movements with a Classical Algorithm on Trajectory Planning for a Robotic Manipulator", Master's Thesis 2016
  • Olschewski, Robin: "Implementierung eines Imitation Learning Ansatzes zur Nutzung eines Roboter Manipulators für das Schreiben", Master's Thesis 2016
  • Boushehri, Ali Shetab: "Development of a Linearzing State-Feedback for a Robotic Manipulator", Master's Thesis 2015
  • Maas, P.: "LPV Modelling and Control of a 3-DOF Robotic Manipulator", Project Work 2011
  • Paraiso, C.: "Black-Box LPV Identification and Control of a 3-DOF Robotic Manipulator", Diploma Thesis 2011
  • Gürcüoğlu, Utku: "Hybrid Position/Force Control of A Robot Manipulator Using LPV Techniques", Master's Thesis 2011
  • Liu, Qin: "Hybrid Position/Force Control of a 6 DOF Robot Arm", Project Work 2009