Christoph Schuetz

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Determining the optimal solution for the inverse kinematics of redundant robots has been the focus of much previous research. Instantaneous approaches are computationally efficient, but may cause high joint velocities due to their local character. In this paper, we present an efficient implementation of a global approach following Pontryagin's Minimum(More)
Next generation robot applications are expected to leave the field of complex tasks in simple environments and move on to simple and complex tasks in complex environments. In our opinion, tactile feedback is a key technology for motion planning in such unstructured environments as visual information may be insufficient or even unavailable. In this paper, we(More)
Selective tasks such as harvesting or spraying of single crops are a promising research topic in agricultural automation. Inspired by industrial production, an obvious approach is to use robot manipulators in greenhouses and orchards. To exploit the potential of redundant manipulators in particular, advanced motion planning algorithms are needed. While(More)
The exploitation of new fields of application in addition to traditional industrial production for robot manipulators (e.g. agriculture, human areas) requires extensions to the sensor as well as to the planning capabilities. Motion planning solely based on visual information performs poorly in cluttered environments since contacts with obstacles might be(More)
The drive mechanism of many robot joints are composed of an electrical actuator and a gear transmission. Besides actuator dynamics and gear elasticity, friction effects are of particular importance for accurate dynamic modeling. This paper presents the design and development of a modular testbed for experimental friction identification in modular robot(More)
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