Robotics belongs to the largest fields of application for control methods. Besides conventional industrial robots, as known from the automobile production, or mobile robots, such as cleaning robots, there is an increasing usage of man-machine collaboration. Research projects in this area concern the control of movements and forces, the planning of paths and trajectories and fault diagnosis for robots.
Currrent research project
The research of this project deals with methods for functionally safe and thus fail-safe monitoring of mechatronic systems, especially robots. The objective is to detect and identify faults as well as potential hazards for humans and the process, in order to be able to transfer the system into a safe state if necessary. The method is based on the novel approach of polynomial approximation, which allows algebraic fault detection and identification, as well as to consider disturbances, nonlinear equations of motion and can be evaluated solely on the basis of measurable signals within a sliding time interval.
- Lomakin, A. and Deutscher J.: Algebraic Fault Detection and Identification for Rigid Robots. In Proc. International Conference on Robotics and Automation (ICRA) , 2020 Paris, France, pp. 9352-9358.
- Lomakin, A. and Deutscher J.: Fault Detection and Identification for Nonlinear MIMO Systems Using Derivative Estimation. In Proc. IFAC World Congress, (accepted) , Berlin, Germany.
- Lomakin, A. and Deutscher J.: Identification of Dynamic Parameters for Rigid Robots based on Polynomial Approximation. In Proc. International Conference on Intelligent Robots and Systems (IROS), (accepted), 2020 Las Vegas, NV, USA.
For more informationens please contact Alexander Lomakin.