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Controller design for articulated arm kinematics

Lehrstuhl: Institut für Produktionssysteme

Betreuer: Sven Stumm, Michael Rieger,

Beginn ab: 14.10.2013

Maximale Anzahl der Teilnehmer: 6


Controller design for articulated arm kinematics

The objective of the projectgroup “Controller design for articulated arm kinematics” is the Integration of the graphical programming language tool Simulink into the Robotic Operating System (ROS). The necessary framework will be developed within the example scenario of a controller for the arm kinematic of a Kuka Youbot and another sample robotic arm kinematic. Therefore the controller design is made using Simulink and connected to the Robot via the ROS-Framework to achieve a modular design structure. The developed framework should be designed to be easily extensible in order to incorporate elements for the use of a mobile Platform as well as synchronized multi robot movement for future work. Basic approaches to connect Simulink and ROS can be found at: www.ros.org

The projektgroup prensentation can be found here: Presentation

project group already fully assigned.Furhter applications will not be accepted

Working Topics:

  • Design and Implementation of a Controller for the YouBot Arm Kinematic in Simulink

  • Design and Implementation of a Controller for the Schunk Arm Kinematic in Simulink

  • Translator for the Simulink Arm Controller into ROS Nodes based on the Matlab C++ Builder

  • Connecting the ROS Nodes generated from the Simulink Controller with the YouBot

  • Information Transfer from the YouBot to Simulink

  • Connecting Simulink with existing ROS Nodes


  • Everyone who is interested in the Project Group should apply via E-Mail to Sven Stumm and has to participate in the technical aptitude test

  • The technical aptitude test takes place at the MB II in room 316 on 15.07.2013 at 11:00

  • If you are interested and cannot participate at the given date please write an E-Mail to Sven Stumm

  • The Test is comprised of general Questions about Object Oriented Programming, which are not programming language specific, as well as some basics about kinematics

  • The number of participants is limited. Only those who successfully pass the Test have a chance to participate in the projectgroup.

  • Participants will be assigned topics for which a presentation has to be prepared for the KickOff Meeting and Workshop on 14.10.2013 at 14:00