Publikationen

Kotlarski, J.; Heimann, B.; Ortmaier, T. (2011): Experimental Validation of the Influence of Kinematic Redundancy on the Pose Accuracy of Parallel Kinematic Machines,  Proc. of the 2011 International Conference on Robotics and Automation, pp. 1923-1929, Shanghai, China

Kotlarski, J.; Do Thanh, T.; Heimann, B.; Ortmaier, T. (2010): Optimization Strategies for Additional Actuators of Kinematically Redundant Parallel Kinematic Machines,  Proc. of the 2010 International Conference on Robotics and Automation, pp. 656-661, Anchorage (Alaska), USA

Do Thanh, T.; Kotlarski, J.; Heimann, B.; Ortmaier, T. (2009): A new Program to Automatically Generate the Kinematic and Dynamic Equations of General Parallel Robots in Symbolic Form,  Proc. of the 1st IFToMM International Symposium on Robotics and Mechatronics, pp. 122-128, Hanoi, Vietnam

Do Thanh, T.; Kotlarski, J.; Ortmaier, T.; Heimann, B. (2009): On the Inverse Dynamics Problem of General Parallel Robots,  Proc. of the 2009 IEEE International Conference on Mechatronics, Malaga, Spain

Eilers, H.; Baron, S.; Ortmaier, T.; Heimann, B.; Baier, C.; Rau, T. S.; Leinung, M.; Majdani, O. (2009): Navigated, robot assisted drilling of a minimally invasive cochlear access,  Proc. of the 2009 IEEE International Conference on Mechatronics, Málaga, Spain

Kotlarski, J.; Abdellatif, H.; Ortmaier, T.; Heimann, B. (2009): Enlarging the Useable Workspace of Planar Parallel Robots using Mechanisms of Variable Geometry,  Proc. of the ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp. 94-103, London, United Kingdom

Kotlarski, J.; de Nijs, R.; Abdellatif, H.; Heimann, B. (2009): New Interval-based Approach to Determine the Guaranteed Singularity-Free Workspace of Parallel Robots,  Proc. of the 2009 International Conference on Robotics and Automation, pp. 1256-1261, Kobe, Japan

Abdellatif, H.; Heimann, B.; Kotlarski, J. (2008): Passivity-Based Observer/Controller Design with Desired Dynamics Compensation for 6 DOFs Parallel Manipulators,  2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2392-2397, Nice, France

Abdellatif, H.; Kotlarski, J.; Heimann, B. (2008): Dynamics Identification of Parallel Manipulators,  Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly, pp. 37-52, Braunschweig, Germany

Dagen, M.; Heimann, B. (2008): An Electromagnetically Actuated Punch for Cutting Micro-Components,  Adaptronic Congress Berlin, Berlin, p. 103-109

Dagen, M.; Heimann, B.; Javadi, M.; Behrens, B.-A. (2008): Design and Control of an Electromagnetically Actuated Punch,  Proc. of the 17th IFAC World Congress, pp. 857-862, Seoul, Korea

Dagen, M; Abdellatif, H.; Heimann, B. (2008): Applying Iterative Learning Control for accuracy improvement of an electromagnetically actuated punch,  Proc. of the 9th International Conference on Motion and Vibration Control, Munich

Hussong, A.; Rau, Th.; Eilers, H.; Baron, S.; Heimann, B.; Leinung, M.; Lenarz, Th., Majdani, O. (2008): Conception and Design of an Automated Insertion Tool for Cochlear Implants,  Proc. of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 5593-5596

Hussong, A.; Schurzig, D.; Heimann, B.; Rau, Th. S.; Lenarz, Th.; Labadie, R.; Majdani, O. (2008): Entwicklung eines automatisierten Insertionstools für Cochleaimplantate,  Proc. der 7. Jahrestagung der Deutschen Gesellschaft für Computer und Roboterassistierte Chirurgie, Leipzig

Kotlarski, J.; Abdellatif, H.; Heimann, B. (2008): Improving the Pose Accuracy of a Planar 3RRR Parallel Manipulator using Kinematic Redundancy and Optimized Switching Patterns,  Proc. of the 2008 International Conference on Robotics and Automation, pp. 3863-3868, Pasadena, USA

Kotlarski, J.; Do Thanh, T.; Abdellatif, H.; and Heimann, B. (2008): Singularity Avoidance of a Kinematically Redundant Parallel Robot by a Constrained Optimization of the Actuation Forces,  Proc. of the 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, pp. 435-442, Tokyo, Japan

Baron, S.; Kotlarski, J.; Eilers, H.; Hofschulte, J.; Heimann, B. (2007): Leistungsverbesserung eines optischen Tracking-Systems durch Multi-Sensordatenfusion,  Tagungsband der 6. Jahrestagung der Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 279-282, Karlsruhe

Blume, H.; Heimann, B. (2007): A geometric approach to consideration of control variable limits for wheeled mobile robots with kinematic constraints,  Proc. of the XII Int. Symposium on Dynamic Problems of Mechanics, CD-ROM, Ihabela, Brazil

Eilers, H.; Hussong, A.; Baron, S.; Heimann, B.; Rau, Th.; Leinung, M.; Lenarz, Th.; Majdani, O. (2007): Optimierung der Trajektorienplanung für eine minimalinvasive Cochleostomie,  Tagungsband der 6. Jahrestagung der Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V, pp. 219-222, Karlsuhe

Heimann, B.; Abdellatif, H. (2007): Dynamics and Control of Robots with Parallel Kinematic Structure,  Proc. of the XII Int. Symposium on Dynamic Problems of Mechanics, CD-ROM, Ihabela, Brazil

Hussong, A.; Heimann, B. (2007): Restricted Minimum-Effort Motion Planning for Serial Manipulators,  Proc. of the 12th IFToMM World Congress, Besancon

Kotlarski, J.; Abdellatif, H.; Heimann, B. (2007): On Singularity Avoidance and Workspace Enlargement of Planar Parallel Manipulators using Kinematic Redundancy,  Proc. of the 13th IASTED International Conference on Robotics and Applications, pp. 451-456, Würzburg, Germany

Kotlarski, J; Baron, S.; Eilers, H.; Hofschulte, J.; Heimann, B. (2007): Improving the performance of an optical tracking system using data fusion with an inertial measurement unit,  11th Conference on Mechatronics Technology, pp. 225-230, Ulsan, Südkorea

Abdellatif, H.; Feldt, M.; Heimann, B. (2006): Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator,  Proc. of the 2006 IEEE International Conference on Control Applications, 2528-2533, Munich

Abdellatif, H.; Heimann, B. (2006): Dynamics and Control of Robots with Parallel Kinematic Structure,  Proc. of 10th International Conference on Mechatronics Technology, pp. CD-ROM, Mexico City, Mexico

Abdellatif, H.; Heimann, B. (2006): Learning Control for Accuracy Enhancement of Parallel Kinematic Machines,  Proc. Of the 5th Chemnitz Parallel Kinematics Seminar, pp. 443-456, Chemnitz

Abdellatif, H.; Heimann, B. (2006): On Compensation of Passive Joint Friction in Robotic Manipulators,  Proc. of the 2006 IEEE International Conference on Control Applications, pp. 2510-2515, Munich

Abdellatif, H.; Heimann, B. (2006): Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator,  Proc. Of the IEEE 3rd International Conference on Mechatronics, pp. 398-403, Budapest

Abdellatif, H.; Heimann, B.; Grotjahn, M. (2006): The Impact of Friction on the Dynamics of Parallel Robotic Manipulators,  Proc. of the 16-th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, pp. 73-80, Warsaw, Poland

Baron, S.; Eilers, H.; Hornung, O.; Heimann, B.; Leinung, M.; Bartling, S.; Lenarz, Th.; Majdani, O. (2006): Conception of a Robot Assisted Cochleostomy: First Experimental Results,  Proc. of the 7th International Workshop on Research and Education in Mechatronics, Stockholm, Sweden

Baron, S.; Orhan, G.; Hornung, O.; Blume, H.; Miske, J.; Norozi, K.; Wessel, A.; Yelbuz, T.M.; Heimann, B. (2006): Konstruktion und Etablierung einer Klimakammer für die Untersuchung der embryonalen Herzentwicklung,  Proc. of Workshop Bildverarbeitung für die Medizin 2006, pp. 434-438, Hamburg

Blume, H., Heimann, B. (2006): Simulating a Laser Range Scanner under Application Conditions,  Preprints of the 8th International IFAC Symposium on Robot Control, Bologna, Italy

Blume, H.; Abelbeck, F.; Heimann, B. (2006): A Rule Based Data Fusion Scheme for Wheeled Mobile Robot Localization,  Preprints of the 4th IFAC-Symposium on Mechatronic Systems, pp. 867-872, Heidelberg

Eilers, H.; Bouzid, N.; Heimann, B. (2006): Mechatronics at German Universities; Structure, Contents and the new Bachelor-Master-Course of Hannover,  Proc. of the 7th International Workshop on Research and Education in Mechatronics, Stockholm, Sweden

Eilers, H.; Heimann, B. (2006): The Bachelor-/Master Program 'Mechatronics' at the Leibniz University of Hannover,  Proc of the 3rd Vietnam Conference on Mechatronics, Hanoi, Vietnam

Heimann, B., Blume, H. (2006): Road-Wheel Interaction in Vehicles - A Mechatronic View of Friction,  Preprints of the 4th IFAC-Symposium on Mechatronic Systems, pp. 508-513, Heidelberg

Heimann, B.; Bouzid, N.; Trabelsi, A. (2006): Road-Wheel Interaction in Vehicles - A Mechatronic View of Friction,  Proc. Of the IEEE 3rd International Conference on Mechatronics, pp. 137-143, Budapest

Abdellatif, H.; Blume, H.; Heimann, B.; Hornung, O. (2005): Model-Based Control of Robotic Systems,  Proc. of the 2nd Int. Conference on Machine Intelligence, pp. CD-Proceedings, Tozeur, Tunisia

Abdellatif, H.; Grotjahn, M.; Heimann, B. (2005): High Efficient Dynamics Calculation Approach for Computed-Force Control of Robots with Parallel Structures,  Proc. of the Joint 44th IEEE Conference on Decision and Control and European Control Conference, pp. 2024-2029, Seville, Spain

Abdellatif, H.; Heimann, B. (2005): Adapted Time-Optimal Trajectory Planning for Parallel Manipulators with Full Dynamics Modelling,  Proc. of the 2005 IEEE Int. Conference on Robotics and Automation, pp. 413-418, Barcelona, Spain

Abdellatif, H.; Heimann, B. (2005): Accurate Modelling and Identification of Vehicle's Nonlinear Lateral Dynamics,  Preprints of the 16th IFAC World Congress, Prag, Czech Republic

Abdellatif, H.; Heimann, B.; Grotjahn, M. (2005): Statistical Approach for Bias-free Identification of a Parallel Manipulator Affected with High Measurement Noise,  Proc. of the Joint 44th IEEE Conference on Decision and Control and European Control Conference, pp. 3357-3362, Seville, Spain

Abdellatif, H.; Heimann, B.; Holz, C. (2005): Applying Efficient Computation of the Mass Matrix for Decoupling Control of Complex Parallel Manipulators,  Preprints of the 16th IFAC World Congress, Prag, Czech Republic

Abdellatif, H.; Heimann, B.; Holz, C. (2005): Time-Effective Direct Dynamics Identification of Parallel Manipulators for Model-Based Feedforward Control,  Proc. of the 2005 IEEE/ASME Int. Conference on Advanced Intelligent Mechatronics, pp. 777-782, Monterry, USA

Abdellatif, H.; Heimann, B.; Hornung, O.; Grotjahn, M. (2005): Identification and Appropriate Parametrization of Parallel Robot Dynamic Models by Using Estimation Statistical Properties,  Proc. of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 444-449, Edmonton, Canada

Bouzid, N.; Heimann, B.; Trabelsi, A. (2005): Empirische Modellierung des Reibwertes für das Groschrad-Fahrbahn-System,  VDI-Berichte 1912, pp. 291-307, Hannover

Denkena, B.; Heimann, B.; Abdellatif, H.; Holz, C. (2005): Design, Modeling and Advanced Control of the Innovative Parallel Manipulator PaLiDA,  Proc. of the 2005 IEEE/ASME Int. Conference on Advanced Intelligent Mechatronics, pp. 632-637, Monterry, USA

Denkena, B.; Heimann, B.; Holz, C.; Abdellatif, H. (2005): Model-Based Control Concept of 6-DOF Parallel Kinematics Machine for High Dynamic Automation,  Proc. of the 15th Int. Conference on Flexible Automation & Intelligent Manufacturing, pp. 272-279, Bilbao, Spain

Hornung, O.; Heimann, B. (2005): A Sequential Control Approach for Visual Servoing using Uncalibrated System Components,  Proc. of the 2nd Int. Conference on Machine Intelligence, pp. CD-Proceedings, Tozeur, Tunisia

Hornung, O.; Heimann, B. (2005): A Model-Based Approach for Visual Guided Grasping with Uncalibrated System Components,  . Proc. of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4030-4036, Edmonton, Canada

Lorenz, M.; Heimann, B.; Härtel, V. (2005): A Novel Engine Mount with Semi-Active Dry Friction Dumping,  Proc. of the Int. Symposium on Dynamics Problems of Mechanics, pp. CD-Rom, Ouro Preto, Brazil

Majdani, O.; Bartling, S.; Leinung, M.; Stöver, T.; Baron, S; Eilers, H.; Hornung, O.; Becker, H.; Heimann, B.; Lenarz, T. (2005): The true minimally invasive approach for cochlear implantation,  Deutsche Gesellschaft für Computer-und Roboter-Assistierte Chirurgie CURAC, CURAC Jahrestagung, Berlin

Trabelsi, A.; Heimann, B.; Kendziorra, N.; Harting, H.-J. (2005): Automotive Road State Estimation,  Proc. of the 3rd International Conference on Systems, Signals & Devices, pp. CD-Rom, Sousse, Tunisia

Trabelsi, A.; Heimann, B.; Kendziorra, N.; Harting, H.-J. (2005): Detection of Slippery Road-Tire Conditions,  Proc. of the 2nd Int. Conference on Machine Intelligence, pp. CD-Proceedings, Tozeur, Tunisia

Weidemann, D.; Eilers, H.; Scherm, N.; Heimann, B. (2005): Zeitdiskrete Bahnplanung mit variabler Abtastzeit basierend auf Sensitivitätsfunktionen am Beispiel eines unteraktuierten Manipulators,  Axel Gräser, Boris Lohmann (Ed.), Methods and applications in automation, proceedings of the 25th and 26th Colloquium of Automation, Salzhausen, Germany

Weidemann, D.; Scherm, N.; Heimann, B.; Abdellatif, H. (2005): Nonlinear Discrete-Time Control Approaches for Underactuated Manipulators,  Proc. of the Joint 44th IEEE Conference on Decision and Control and European Control Conference, 4379-4384, Seville, Spain

Yelbuz, T.M. ; Orhan, G.; Baron, S.; Norozi, K.; Blume, H.; Hornung, O.; Heimann, B.; Wessel, A. (2005): Construction and establishment of a new environmental chamber to study real-time cardiac development,  Proc. of 12th Annual Weinstein Cardiovascular Development Conference, Tucson, Arizona, USA

Abdellatif, H.; Benimelli, F.; Heimann, B.; Grotjahn, M. (2004): Direct Identification of Dynamic Parameters for Parallel Manipulators,  Proc. of the Int. Conference on Mechatronics and Robotics 2004, pp. 999-1005, Aachen, Germany

Blume, H.; Abdellatif, H.; Heimann, B.; Trabelsi, A. (2004): Mechatronical Aspects of Vehicle-Roadway Interaction,  Proc. of the 8th Int. Conference on Mechatronics Technology, pp. 121-126, Hanoi, Vietnam

Grotjahn, M.; Abdellatif, H.; Heimann, B. (2004): Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics,  Proc. of the 4th Chemnitz Parallel Kinematics Seminar, pp. 217-236, Chemnitz

Grotjahn, M.; Heimann, B. (2004): Friction and Rigid-Body Identification of Parallel Kinematic Structures,  Proc. of 8th Pan American Congress of Apllied Mechanics, Havanna, Cuba

Grotjahn, M.; Heimann, B.; Kühn, J.; Grendel, H. (2004): Dynamics of robots with Parallel Kinematic Structure,  Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science, pp. 1689-1693, Tjanjin, China

Heimann, B.; Grotjahn, M.; Kühn, J.B. (2004): Friction and Rigid-Body Identification of Robots with Parallel Kinematic Structures,  Proc. of the 8th Int. Conference on Mechatronics Technology, pp. 87-92, Hanoi, Vietnam

Hornung, O.; Heimann, B. (2004): Using Model-Based Feature Extraction for Uncalibrated Visual Guided Grasping,  Proc. of the Int. Conference on Mechatronics and Robotics 2004, pp. 436-441, Aachen, Germany

Neto, Areolino de A.; Abdellatif, H.; Heimann, B.; Góes, Luiz C. S. (2004): New hybrid approach of real-time obstacle avoidance for wheeled Mobile Robots,  Proc. of the 8th Brazilian Symposium on Neural Networks, pp. CD-Rom, São Luís do Maranhão, Brazil

Trabelsi, A.; Heimann, B.; Dreilich, L.; Harting, H.-J. (2004): The Microphone as a Roughness and Wetness Sensor of the Road in Automotive Applications,  Proc. of the 2004 Int. Congress and Exhibition on Noise Control Engineering, pp. 11-32, Prague, Czech Republic

Trabelsi, A.; Heimann, B.; Harting, H.-J.; Kendziorra, N. (2004): Road Surface State Estimation fort he Support of Automotive Systems,  Proc. of the 8th Int. Conference on Mechatronics Technology, pp. 173-178, Hanoi, Vietnam

Weidemann, D.; Scherm, N.; Heimann, B. (2004): Discrete-Time Control by Nonlinear Online Optimization on Multiple Shrinking Horizons for underactuated Manipulators,  Proc. Of the 15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, Montreal, Canada

Abdellatif, H.; Heimann, B.; Hoffmann, J. (2003): Nonlinear Identification of Vehicle’s Coupled Lateral and Roll Dynamics,  Proc. of the 11th IEEE Mediterranean Conference on Control and Automation, Rhodes, Greece

Abdellatif, H.; Michaelsen, A.; Heimann, B. (2003): Position Estimation and Control of an 8-Dof Omnidirectional Mobile Robot,  Proc. of the 12th Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, Italy

Abdellatif, H.; Quernheim, L.; Heimann, B.; Hoffmann, J. (2003): Identifikation der Querdynamik von Pkw zum Einsatz in Fahrdynamikregelsystemen,  VDI-Berichte 1763, 5. VDI-Mechatroniktagung, pp. 323-340, Fulda

Blume, H.; Heimann, B.; Lindner, M; Volk, H. (2003): Friction Measurements on Road Surfaces,  Proc. of the Int. Rubber Conference 2003, pp. 41-45, Nürnberg

Grotjahn, M.; Heimann, B. (2003): Identification of the Dynamics of Parallel Kinematic Structures for Model-based Control,  Proc. of the ECCOMAS Thematic Conference on Advances in computational Multibody Systems, Lisbon

Grotjahn, M.; Kühn, J.B; Heimann, B.; Grendel, H. (2003): Robots with Parallel Kinematic Structure: Design and Dynamics,  Proc. of the 10th Int. Symposium on Dynamic Problems of Mechanics, pp. 89-94, Ubatuba, Brazil

Heimann, B.; Abdellatif, H.; Blume, H.; Bouzid, N.; Lorenz, M.; Trabelsi, A. (2003): Wechselwirkung Fahrbahn-Fahrzeug aus der Sicht der Mechatronik,  VDI-Berichte 1791, pp. 11-32, Hannover

Hornung, O.; Heimann, B. (2003): Visual Servoing by Image Trajectory Generation and Sequential Control,  Proc of the 9th IEEE Int. Conference on Methods and Models in Automation and Robotics, pp. 1059-1064, Miedzyzdroje, Poland

Kühn, J.B.; Grotjahn, M.; Heimann, B. (2003): Auslegung und Regelung eines hydraulischen Hexapods,  VDI-Berichte 1763, 5. VDI-Mechatroniktagung, pp. 587-606, Fulda

Lorenz, M.; Heimann, B; Tschimmel, J.; Härtel, V. (2003): Applying Semi-Active Friction Damping to Elastics Supports for Automotive Applications,  Proc of the IEEE/ASME Int. Conference on Advanced Intelligent Mechatronics, Kobe, Japan

Tönshoff, H.-K.; Denkena, B.; Jacobson, J.; Heimann, B.; Schütte, O.; Grudzinski, K.; Bodnar, A. (2003): Nonlinear Dynamics of an External Cylindrical Grinding System and a Strategy for Chatter Compensation,  Proc. of the 4th Int. Symposium on Investigation of Nonlinear Dynamic Effects in Production Systems, Chemnitz

Weidemann, D.; Scherm, N.; Heimann, B. (2003): Discrete-Time Control of Underactuated Manipulation Systems By Nonlinear Online Optimisation,  Proc. of the 9th IEEE Int. Conference on Methods and Models in Automation and Robotics, pp. 937-946, Miedzyzdroje, Poland

Abdellatif, H.; Weidemann, D.; Michaelsen, A.; Grotjahn, M.; Heimann, B. (2002): Control of the Omnidirectional Robot MARGe,  Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, pp. 101-108, Udine, Italy

Blume, H.; Heimann, B.; Lindner, M. (2002): Design of an Outdoor Mobile Platform for Friction Measurement on Street Surfaces,  Proc. of the Int. Colloquium on Autonomous and Mobile Systems, pp. 65-68, Magdeburg

Grotjahn, M.; Kühn, J.B.; Heimann, B.; Grendel, H. (2002): Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter,  Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, pp. 67-76, Udine, Italy

Weidemann, D.; Scherm, N.; Heimann, B. (2002): Multi-rate Control of a 3 DOF-Manipulator with 2 Passive Joints,  Proc. of the Int. Symposium on Multi-body Systems and Mechatronics, Mexico City

Schütte, O.; Heimann, B. (2001): On Chatter Vibrations in Cylindrical Grinding,  Proc. of the 7th German-Polish Workshop on Machine Dynamics Problems

Grotjahn, M.; Heimann, B. (2000): Determination of Dynamic Parameters of Robots by Base Sensor Measurements,  Proc. of the 6th Int. IFAC Symposium on Robot Control, pp. 277-282, Vienna

Grotjahn, M.; Heimann, B. (2000): Compensation of Friction in Robot Dynamics,  Proc. of the 3rd Int. Conference on Nonlinear Dynamics, Chaos, control and Their Applications in Engineering Sciences, Campo do Jordao, Brazil

Grotjahn, M.; Heimann, B. (2000): Symbolic Calculation of Robot’s Base Reaction Force/Torque Equations with Minimal Parameter Set,  Proc. of the 13th CISM-IFToMM Int. Symposium on the Theory and Practice of Robots and Manipulators, pp. 59-66, Zakopane, Poland

Grotjahn, M.; Heimann, B. (2000): Simulation of Robot Dynamics and its Application to Path Error Compensation,  Tagungsband Simulation im Maschinenbau, pp. 737-746

Schütte, O.; Heimann, B. (2000): On the Dynamics of Chatter Vibrations in External Cylindrical Grinding,  Proc. Of the 8th ISROMAC Congress, pp. 892-900, Honolulu

Tönshoff, H.-K.; Kummnetz, J.; Schütte, O.; Heimann, B.; Grudzinski, K. (2000): On the Nonlinear Dynamics in External Cylindrical Grinding – Experimental and Simulation of Process, Structure and Feed Drives,  Proc. of the 3rd Int. Symposium on Nonlinear Dynamic Effects in Systems of Production Engineering, Cottbus

Grotjahn, M.; Heimann, B. (1999): Prediction of Dynamic Path Errors for Industrial Robots,  Proc. of the 8th Int. Workshop on Robotics in Alpe-Adria-Danube Region, pp. 77-82, Munich

Grotjahn, M.; Heimann, B.; Thiemann, A. (1999): Reduction of Path Errors for Industrial Robots by Trajectory Precorrection,  Proc. of the 2nd Int. conference on Recent Advances in Mechatronics, pp. 46-51, Istanbul

Heimann, B. (1999): Friction and Rigid Body Identification of Robot Dynamics,  Proc. of 6th Pan American Congress of Apllied Mechanics, pp. 1557-1560

Scherm, N.; Heimann, B. (1999): Discrete-Time Control of Underactuated Manipulation Systems,  Proc. Of the 10th IFToMM World Congress, pp. 990-996, Oulu, Finland

Schütte, O.; Heimann, B. (1999): On the Dynamic Friction Coefficient in Cylindrical Grinding,  Proc. Of the 10th IFToMM World Congress, pp. 2186-2191, Oulu, Finland

Heimann, B. (1998): Feedback Linearization of Underatuated Manipulation Systems,  Proc. of the 3rd Int. Conference on Advanced Mechatronics, pp. 163-167, Okayama, Japan

Heimann, B.; Daemi, M. (1998): Separation of Friction and Rigid Body Identification for Industrial Robots,  Proc. of the 12th CISM-IFToMM Int. Symposium on Theory and Practice of Robots and Manipulators, pp. 35-43, Paris

Daemi, M.; Heimann, B. (1997): Direct Kinematics of a Modified Stewart-Platform for Sensing Applications,  Proc. of the 3rd ECPD Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp. 404-410, Bremen

Heimann, B.; Kruse, H. (1997): Automating the Assembly of Flexible Optical-Fiber Components,  Proc. of the Euromech. Colloquium on Synthesis of Mechatronic Systems, Duisburg

Heimann, B.; Schütte, O. (1997): Kontaktmodelle für das Außenrundschleifen,  Symposium des Förderschwerpunkts der VW-Stiftung: Nichtlinear-dynamische Effekte in produktionstechnischen Systemen, pp. 1-16, Berlin

Daemi, M; Heimann, B. (1996): Identification and Compensation of Gear Friction for Modeling of Robots,  Proc. of the 11th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 89-99, Udine, Italy

Heimann, B. (1996): Optimal Path-Planning of Robotic Manipulators,  Proc. of the 2nd ECPD Conference on Advanced Robotics, pp. 580-585, Vienna

Heimann, B. (1996): Suboptimal Path-Planning of Robotic Manipulators,  Proc. of the 3rd Int. conference on Motion and Vibration Control, Chiba, Japan

Günther, G.; Heimann, B.; Daemi, M. (1995): Zweistufige Parameteridentifikation von dynamischen Robotermodellen,  Tagungsband zum 6. Problemseminar Identifikation mechanischer Systeme, pp. 113-121, Dresden

Heimann, B. (1995): Suboptimal Path-Planning of Robotic Manipulators in Presence of Obstacles,  Proc. of the 3rd German-Polish Workshop on Dynamic Problems of Mech. Systems, pp. 133-145, Berlin

Heimann, B; Krüger, M. (1995): Optimal Path-Planning of Robot-Manipulators in Presence of Obstacles,  Proc. of the 9th IFToMM World Congress, pp. 2003-2013, Milano

Do Thanh, T.; Kotlarski, J.; Heimann, B.; Ortmaier, T. (2012): Dynamics Identification of Kinematically Redundant Parallel Robots using the Direct Search Method,  Mechanism and machine theory 55: 104-121

Kotlarski, J.; Heimann, B.; Ortmaier, T. (2012): Influence of Kinematic Redundancy on Type-II Singularity Loci of Parallel Kinematic Machines, International Journal of Engineering & Automation Problems, No. 3, pp. 23-28

Kotlarski, J.; Heimann, B.; Ortmaier, T. (2012): Influence of Kinematic Redundancy on the Singularity-free Workspace of Parallel Kinematic Machines,  Frontiers of Mechanical Engineering, Vol. 7(2), pp. 120-134

Happel, C.; Thommes, J.; Thrane, L.; Männer, J.; Ortmaier, T.; Heimann, B.; Yelbuz, T. (2011): Rotationally acquired four-dimensional optical coherence tomography of embryonic chick hearts using retrospective gating on the common central A-scan,  Journal of Biomedical Optics (SPIE)

Hussong, A.; Rau, Th. S.; Ortmaier, T.; Heimann, B.; Lenarz, T.; Majdani, O. (2010): An automated insertion tool for cochlear implants: another step towards atraumatic cochlear implant surgery,  International Journal of Computer Assisted Radiology and Surgery, Published online: 13. Juni 2009, Vol. 5 (Issue 2), pp. 163-171

Abdellatif, H.; Heimann, B. (2009): Computational Efficient Inverse Dynamics of 6-DOF Fully Parallel Manipulators by using the Lagrangian Formalism,  Mechanism and Machine Theory, Vol. 44 (Nr. 1), pp. 197-207

Majdani, O.; Rau, T.; Baron, S.; Eilers, H.; Baier, C.; Heimann, B.; Ortmaier, T.; Bartling, S.; Lenarz, T.; Leinung, M. (2009): A robot-guided minimally invasive approach for cochlear implant surgery: preliminary results of a temporal bone study,  International Journal of Computer Assisted Radiology and Surgery, Springer

Abdellatif, H. and Heimann, B. (2008): A novel multiple-heuristic approach for singularity-free motion planning of spatial parallel manipulators,  Robotica, Vol. 26 (Nr. 5), pp. 679-689

Abdellatif, H. and Heimann, B. (2008): Modelling, identification and robust control of 6-DOF parallel manipulators,  International Journal of Modelling, Identification and Control, Vol. 4 (Nr. 3), pp. 213-225

Behrens, B.-A.;Javadi, N.; Heimann, B.; Dagen, M. (2008): Scherschneiden mit elektromagnetischem Stanzautomat,  wt Werkstattstechnik online (Nr. 98), pp. 825-830

Abdellatif, H.; Grotjahn, M.; Heimann, B. (2007): Independent Identification of Friction Characteristics for Parallel Manipulators,  ASME Journal of Dynamic Systems, Measurement and Control, Vol. 129 (Nr. 3), pp. 294-302

Leinung, M.; Baron, S.; Eilers, H.; Heimann, B.; Bartling, S.; Heermann, R.; Lenarz, T.; Majdani, O. (2007): Robotic-guided minimally-invasive cochleostomy: first results,  GMS Current Topics in Computer- and Robot-Assisted Surgery (GMS CURAC), Vol. 2 (Nr. 1)

Orhan, G.; Baron, S.; Norozi, K.; Manner, J.; Hornung, O.; Blume, H.; Misske, J.; Heimann, B.; Wessel, A.; Yelbuz, T.M. (2007): Construction and establishment of a new environmental chamber to study real-time cardiac development,  Microscopy and Microanalysis, Vol. 13 (Nr. 3), pp. 204-210

Bouzid, N.; Heimann, B.; Blume, H. (2006): Friction Coefficient Prognosis for the Grosch-Wheel,  Lecture Notes in Applied and Computational Mechanics, Vol. 27, pp. 279-287

Lorenz, M.; Heimann, B.; Härtel, V. (2006): A Novel Engine Mount with Semi-Active Dry Friction Dumping,  Shock and Vibration, Vol. 13 (Nr. 4/5), pp. 559-571

Stein, E.; Lindinger, H.; Wriggers, P.; Heimann, B. (2006): Leibniz’ Forschung erlebbar machen,  Unimagazin Hannover (Nr. 3/4), pp. 18-22

Trabelsi, A.; Heimann, B. (2006): Automotive Fahrbahnzustandserkennung,  Technisches Messen, 73 (6), 317-324

Heimann, B.; Abdellatif, H. (2005): Dynamics and Control of Robots with Parallel Kinematic Structure,  Machine Dynamics Problems, Vol. 29 (Nr. 4), pp. 59-68

Heimann, B.; Blume, H. (2004): Stewart-Gough-Plattform, Zukunftsweisendes Konzept für leistungsfähige Prüfmaschinen,  Technologien aus niedersächsischen Hochschulen, pp. 26-27

Blume, H.; Heimann, B.; Lindner, M; Volk, H. (2003): Friction Measurements on Road Surfaces,  Kautschuk-Gummi-Kunststoffe, Vol. 2003 (Nr. 12), pp. 677-681

Kühn, J.B.; Grotjahn, M.; Heimann, B. (2003): Auslegung und Regelung eines servohydraulischen Hexapods,  Konstruktion: Zeitschrift für Produktentwicklung und Ingenieur-Werkstoffe, 2003 (5), pp. 44-47

Weidemann, D.; Scherm, N.; Heimann, B. (2003): Discrete-Time Planning and Control of a Highly Underactuated Manipulator,  Journal of Machine Intelligence and Robotic Control (MIRoC), 4 (3), pp. 89-98

Grotjahn, M.; Heimann, B. (2002): Model-based Feedforward Control in Industrial Robotics,  Int. Journal of Robotics Research, 21 (1), pp. 45-60

Grotjahn, M.; Daemi, M.; Heimann, B. (2001): Friction and Rigid Body Identification of Robot Dynamics,  Int. Journal of Solids and Structures, 38 (10-13), pp. 1889–1902

Grotjahn, M.; Heimann, B. (2001): Identification of Industrial Robot’s Nonlinear Dynamics,  ZAMM, Zeitschrift für angewandete Mathematik und Mechanik (81, Suppl. 1), pp. 109-112

Scherm, N.; Heimann, B. (2001): Nichtlineare zeitdiskrete Regelung eines unteraktuierten Manipulators,  Automatisiserungstechnik, 3 (49), pp. 107-114

Scherm, N.; Heimann, B. (2000): Dynamics and Control of Underactuated Manipulation Systems - A Discrete-time Approach,  Journal of Robotic and Autonomous Systems (30), pp. 237-248

Daemi, M.; Heimann, B. (1995): Inverse Dynamik und Identifikation von Robotermodellen,  Technische Mechanik, 15 (2), pp. 107-117

Abdellatif, H.; Kotlarski, J.; Ortmaier, T.; Heimann, B. (2010): Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory,  Robotics 2010 Current and Future Challenges, Edited by Houssem Abdellatif, ISBN 978-953-7619-78-7

Abdellatif, H.; Heimann, B.; Kotlarski J. (2008): On the Robust Dynamics Identification of Parallel Manipulators: Methodology and Experiments,  Parallel Manipulators, New Developments, Edited by J.-H. Ryu, I-Tech Education and Publishing, Vienna, Austria

Dagen, M; Abdellatif, H.; Heimann, B. (2008): Applying Iterative Learning Control for accuracy improvement of an electromagnetically actuated punch,  H. Ulbrich, L. Ginzinger (Editors), Motion and Vibration Control, Selected Papers from MOVIC 2008, pp. 41-52

Heimann, B.; Albert, A.; Ortmaier, T.; Rissing, L.: (2015): Mechatronik - Komponenten Methoden Beispiele,  Fachbuchverlag Leipzig im Carl Hanser Verlag
ISBN: 978-3-446-44451-5

Abdellatif, H.; Heimann, B. (2007): Model Based Control for Industrial Robots: Uniform Approaches for Serial and Parallel Structures,  S. Cubero (Editor), Industrial Robotics: Theory, Modeling and Control, Pro Literatur Verlag

Heimann, B.; Gerth, W.; Popp, K. (2007): Mechatronik, Komponenten – Methoden – Beispiele (3. Auflage),  München, Wien, Leipzig, Carl Hanser Verlag

Heimann, B.; Gerth, W.; Popp, K. (2000): Mechatronik, Komponenten, Methoden, Beispiele,  2. Auflage, München, Wien, Carl Hanser Verlag

Heimann, B., Hardtke, H.J.; Sollmann, H. (1997): Technische Mechanik, Band 2, Kinematik-Kinetik-Systemdynamik-Mechatronik,  München, Wien, Carl Hanser Verlag

Kotlarski, J.; Heimann, B.; Ortmaier, T. (2010): Improving the Pose Accuracy of Planar Parallel Robots using Mechanisms of Variable Geometry,  Advances in Robot Manipulators (ISBN 978-953-307-070-4), Edited by E. Hall, In-Tech, Vukovar, Croatia