Research in the field of industrial automation comprises conception and realisation of sensor based autonomous robots for typical tasks in production i.e. assembly, manipulation, inspection, measuring, and testing. Main issues are collision free motion planning for different robot control systems and algorithms for model based robot calibration. New methods for intuitive and automatic offline-programming of robots are developed as well. Special stress is laid on human robot co-operation integrating multiple sensors and using several co-operation levels. A special challenge is the usage of sensor based co-operative micro robots with direct drives achieving an accuracy of 20 nm in a FEM. One research team designs modular control and diagnosis systems for robots, robot cells and plants i.e. based on multi-agent architectures. We use case based, signal based and model based methods for service and diagnosis of robotic systems. Further research comprises planning and simulation of the digital plant.
In the scope of medical engineering, our research focuses on the future operating theatre and robot assisted surgery. This comprises sensor based autonomous and teleoperated surgical robots, flexible endoscopes, and visualisation systems for the future surgical workplace. Methods for modelling and simulation of anatomical structures, especially bony tissue and soft tissue close to bones are emphasised. These methods are basis for our operation planning systems supporting the surgical intervention as well as the planning of the work flow of an intervention.
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