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- Lars Mikelsons, Tobias Bruckmann, Manfred Hiller, Dieter Schramm
- 2008 IEEE International Conference on Robotics…
- 2008

Tendon-based parallel manipulators with n d.o.f. use at least m = n + 1 tendons to guide the end effector along a given trajectory. Since tendons can only transmit limited and tractive forces, it is essential to apply a valid tendon force distribution. Due to safety and precision requirements, a combined position and force control is needed where the force… (More)

- Marc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias Bruckmann
- IEEE Trans. Robotics
- 2015

- Joachim von Zitzewitz, André Morger, +5 authors Robert Riener
- Robotica
- 2013

- T. Bruckmann, L. Mikelsons, M. Hiller, D. Schramm
- 2007 IEEE/ASME international conference on…
- 2007

Completely and redundantly restraint tendon-based Stewart platforms demand for an appropriate distribution of tendon forces to control the platform on a given trajectory. Thus, position control has to be extended by a tendon force controller which generates continuous and feasible force values. The computation of such force distributions can be formulated… (More)

- Tobias Bruckmann, Andreas Pott, +17 authors Alexander Verl
- 2015

- Hans-Peter Schröcker, Tobias Bruckmann, Andreas Pott, Daniel Franitza, Manfred Hiller
- 2006

Tendon-based Stewart platforms are capable of high speeds and accelerations. Thus, a reliable controller running with a high frequency is required. Here, an implementation based on a modular controller architecture is shown. To control the platform on a given trajectory, the implemented position control has to be extended by a tendon force control which… (More)

The aim of this paper is to investigate possibilities for controlling a four-legged walking robot (ALDURO) with a force feedback joystick. A way to filter motion induced errors out of the input data is shown, as well as ways to prevent them by using force feedback. Force feedback can also be used to supply the operator with information about the workspace… (More)

- Tobias Bruckmann, Christian Sturm, Lisa Fehlberg, Christopher Reichert
- 2013 IEEE/ASME International Conference on…
- 2013

Conventional automated storage and retrieval systems (AS/RS) are widely used to realize an efficient infrastructure for large warehouses. Nevertheless, they require a lot of energy when performing the storage of goods in high racks. This paper presents a new AS/RS type based on a wire robot technology which is very lightweight and therefore capable for huge… (More)

- Hannah Mattern, Tobias Bruckmann, Arnim Spengler, Markus König
- 2016 Winter Simulation Conference (WSC)
- 2016

Despite a high potential to improve the productivity, quality and safety and also to reduce costs, automated technologies are not widely spread in the construction sector. This paper presents a simulation-based approach to analyze the technical and economic feasibility of wire robots for automated construction in future investigations. Masonry buildings are… (More)

- Marc Gouttefarde, Johann Lamaury, Christopher Reichert, Tobias Bruckmann
- IEEE Transactions on Robotics
- 2015

Redundancy resolution of redundantly actuated cable-driven parallel robots (CDPRs) requires the computation of feasible and continuous cable tension distributions along a trajectory. This paper focuses on n-DOF CDPRs driven by n + 2 cables, since, for n = 6, these redundantly actuated CDPRs are relevant in many applications. The set of feasible cable… (More)