Leibniz Universität Hannover Faculty Faculty of Mechanical Engineering
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Institute of Mechatronic Systems
 
Institute of Mechatronic Systems Institute Team
M. Sc Moritz Schappler
List of Publications
Projects

M. Sc. Moritz Schappler

M. Sc. Moritz Schappler
Phone
+49 511 762 4116
Email
moritz.schapplerimes.uni-hannover.de
Address
An der Universität 1
30823 Garbsen
Building
8142
Room
103
M. Sc. Moritz Schappler
Phone
+49 511 762 4116
Email
moritz.schapplerimes.uni-hannover.de
Address
An der Universität 1
30823 Garbsen
Building
8142
Room
103
Positions
Group Leader
Robotics & Autonomous Systems
Institute of Mechatronic Systems
Group Leader
Robotics & Autonomous Systems
Robotics & Autonomous Systems
Research Staff
Institute of Mechatronic Systems

Research

  • Combined Structural and Dimensional Synthesis for Task-specific Robot Kinematics

    When developing new robots, structural and dimensional synthesis are usually regarded separately: First a structure characterized by the number, type and alignment of joints is chosen for a demanded robot task and in a second step the dimensional parameters e.g. lengths of the links are optimized for this structure.

    In my research I develop a method which finds all suitable robot structures for a given task (structural synthesis) and then optimizes all of these structures (dimensional synthesis). Only after this the decision for the chosen robot is made.

    The speciality lies in the inclusion of parallel and serial robots and in finding an approach with a lower level of abstraction than existing concepts. The reduction of the multitude of combinatoric possibilities for robot structures via the eliminiation of unsuited and merging of similiar structures is an important aspect.

    The theoretical results of this DFG funded fundamental research shall be used practically. Therefore, the source code for the sequence of the robot synthesis is publicly available on GitHub. Every published paper, e.g. to MHI 2021, has a corresponding code repository. With this, results are reproducible and can be the base for the synthesis of robots for other tasks. Further examples: IROS 2016, ICRA 2017, MDPI Robotics 2019, IFToMM World Congress 2019, ICMA 2020, MapleConf 2020, ICINCO 2021.

Supervised Students Thesis

2022 (ongoing)

  • Student Thesis: Control Methods for the Nullspace Motion of Task-Redundant Robots
  • Bachelor's Thesis (external): Analysis of a Tactile Robotic Measurement System for Quality Assurance of Vehicle Front End Modules
  • Master's Thesis (extern): Development of an Assistive Controller Scheme for a Cable-Driven Parallel Robot for Upper Limb Rehabilitation

2021

  • Master's Thesis: Inverse Kinematics of Task Redundant Robots for Tasks with two translational and two rotational degrees of freedom
  • Student Thesis (external): Implementation of the Transporter Network on a real Robot for Pick-and-place
  • Master's Thesis (external): Development of a Robot-Assisted Assembly Process for LED Luminaires
  • Master's Thesis (external): Simplified and Intuitive Approaches for Programming of Industrial Robots
  • Master's Thesis (external): Development of a Control Method to Reduce Longitudinal Vehicle Oscillations of a Tractor during Square Baling Operation
  • Student Thesis: Global Optimization of Point-to-Point Motion of Task-Redundant Parallel Kinematic Machines
  • Master's Thesis (external): Spatiotemporal Calibration between a Helmet Mapping System and the Hololens
  • Master's Thesis (external): Simplified and Intuitive Approaches for Programming of Industrial Robots
  • Seminar Thesis: Comparison of Software Tools for the Symbolic Calculation of the Dynamics Equations of Serial-Link Robots
  • Master's Thesis (external): Cartesian Impedance Control of a Collaborative Robot Arm

2020

  • Master's Thesis: Modeling and Dimensional Synthesis of Serial and Parallel Robots regarding Structural Stiffness
  • Bachelor's Thesis: Multi-Objective Dimensional Synthesis of Robots with Tools of Design Methodology
  • Master's Thesis: Modeling and Structural Synthesis of Parallel Robots with Five Degrees of Freedom
  • Student Thesis: Implementation of a Physical Human-Robot Interface for Upper Limb Neurorehabilitation with a Collaborative Robot
  • Student Thesis: Local and Global Trajectory Planning for Large-Scale Robot Tasks with Exploitation of Task Redundancy
  • Student Thesis: Comparison of Centralized Model-Based and Decentralized Model-Free PID Controllers for Industrial Robots

2019

  • Student Thesis: Comparison of Orientation Expressions in Gradient-based Inverse Kinematics of Serial Chain Robots
  • Student Thesis: Reduction of Model Complexity of Serial-Hybrid Robotic Palletizers
  • Master's Thesis: Investigation of Orientation Expressions for Kinematics and Dynamics Modeling of Parallel Robots
  • Master's Thesis: Investigation on the Possibilities of Collision Detection for Parallel Robots Student Thesis: Automatic Dimensioning of Links and Actuators for the Dimensional Synthesis of Serial Robots
  • Master's Thesis: Investigation on the Possibilities of Active Compliance Control for Parallel Robots
  • Master's Thesis: Comparison of Performance and Modeling of Parallel Robots with Hybrid and Serial Chain Legs
  • Student Thesis: Structural Synthesis of Serial Link Robots for Tasks with Rotational Symmetry
  • Student Thesis: Implementation of a Structurally Independant Dynamics Modelling of Parallel Kinematic Machines based on Full Kinematic Constraints
  • Bachelor's Thesis: Investigation of Inertial Effects of Additional Components on Mechanical Systems
  • Master's Thesis: Structural Synthesis of Serial Kinematic Leg Chains for Parallel Robots
  • Master's Thesis: Automatic Dimensioning of Drive Trains, Joints and Links for Parallel Robots
  • Master's Thesis: Structural Synthesis of Parallel Robots with Reduced Mobility
  • Master's Thesis: Actuation and integration of a suturing device into the DLR MiroSurge System (extern)

2018

  • Student Thesis: Modelling and Dimensioning of Links and Actuators for Automatically Generated Robot Structures
  • Student Thesis: Modelling of Kinematic Constraints of Hybrid Serial Chain Robots with Planar Parallel Mechanisms
  • Student Thesis: Implementation of a Structurally Independant Dynamics Modelling of Parallel Kinematic Machines

2017

  • Bachelor's Thesis: Implementation and Evaluation of a Prosthesis Control Unit on a mobile ARM-based computing Platform (at IRT)
  • Bachelor's Thesis: Design and Implementation of an EtherCAT Slave Board for the Integration of Force/Torque Sensors and IMU Sensors into a mobile Upper Limb Prosthesis (at IRT)
  • Master's Thesis: Conception, Construction and prototypic Set-up of an assistive Exoskeleton for an Arm Prosthethis (at IRT)

2015

  • Master's Thesis: Modelling, Simulation and Control Design of an assistive Exoskeleton Arm (at IRT)
  • Bachelor's Thesis: Modelling and Simulation of an Assistive Exoskeleton Arm in SimMechanics (at IRT)

Last Change: 03.04.23 Print

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