Cyber-Physical, Large-Scale Manipulation with Cable Robots

Research Project 27-1 (RP 27-1)

IntCDC Research Project 27-1 – Cyber-Physical, Large-Scale Manipulation with Cable Robots
CYBER-PHYSICAL, LARGE-SCALE MANIPULATION WITH HIGHLY RECONFIGURABLE AND MULTI-FUNCTIONAL CABLE ROBOTS FOR CONSTRUCTION IN EXISTING STRUCTURES

The aim of this research project is to develop methods for the reconfiguration of cable-driven parallel robots (cable robots for short). The overall goal is to enable cable robots as a large scale and flexible manipulation and handling platform for on-site construction. In this scenario, the cable robot is mounted on top of a building, e.g. to transport material or handle objects. It is also possible to envisage a configuration where the cable robot is used in situations with limited installation space, such as in existing structures. For example, the cable robot could be mounted between two existing buildings. In order to realise such applications, there are several open research areas, one of which is cable robot reconfiguration planning, which will be explored in this research project.

The cable robot acts as a highly modular and innovative robotic system that is virtually planned and designed using efficient algorithms subject to optimality conditions. These generic planning methods for the cable robot are based on online models of the construction site (input from research projects Cyber-Physical Construction Platform, RP 8-2, and AI-Supported Collaborative Control of Mobile Manipulators, RP 26-1) and on process requirements, that are defined by cooperative tasks in which autonomous systems work together. The cooperative tasks are derived from the research projects that are also part of the co-design group (e.g. input from research project Co-Design for Distributed Cooperative Multi-Robot Systems, RP 19-2). Subsequently, the optimal design procedure will be validated through experiments, and the underlying parameters of the kinematic model will be identified using learning-based model identification approaches to enable online feedback for automatic calibration of the robot's kinematic parameters.

 

PRINCIPAL INVESTIGATOR

Prof. Dr.-Ing. Alexander Verl
Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart

TEAM

Felix Trautwein (ISW)

 

PEER-REVIEWED PUBLICATIONS

  1. 2024

    1. Trautwein, F., Dietrich, D., Pott, A., & Verl, A. (2024). Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots. Journal of Mechanisms and Robotics, 1–15. https://doi.org/10.1115/1.4065642

  2. 2023

    1. Trautwein, F., Reichenbach, T., Pott, A., & Verl, A. (2023). A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots. In S. Caro, A. Pott, & T. Bruckmann (Eds.), Cable-Driven Parallel Robots (Vol. 132, pp. 261--272). Springer Nature Switzerland. https://doi.org/10.1007/978-3-031-32322-5_21

OTHER PUBLICATIONS

  1. 2023

    1. Trautwein, F., Reichenbach, T., & Verl, A. (2023). Steuerung rekonfigurierbarer Seilroboter. In V. Fachverlage (Ed.), antriebstechnik Sonderausgabe Marktübersicht - Innovation Scout 2023 (p. 44). Vereinigte Fachverlage. https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44

DATA SETS

  1. 2023

    1. Trautwein, F., Reichenbach, T., Pott, A., & Verl, A. (2023). Replication Data for: A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots. DaRUS. https://doi.org/10.18419/darus-3682
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