@inproceedings{LehmannHalbauerEuhusetal., author = {Lehmann, Christian and Halbauer, Marcel and Euhus, Dirk and Overbeck, Daniel}, title = {Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences}, series = {Proceedings of the 17th IEEE International Conference on Emerging Technologies \& Factory Automation (ETFA 2012), Krakow, Poland, 17 - 21 September 2012, vol. 2}, booktitle = {Proceedings of the 17th IEEE International Conference on Emerging Technologies \& Factory Automation (ETFA 2012), Krakow, Poland, 17 - 21 September 2012, vol. 2}, publisher = {IEEE}, address = {Piscataway, NJ}, isbn = {978-1-4673-4735-8}, pages = {1075 -- 1078}, abstract = {Industrial robots offer a good basis for machining from a conceptual point of view. However they are rarely utilized for machining applications in industry due to their low stiffness and the bad achievable work piece quality. Available solutions using position control of the tool require costly additional hardware and measurement equipment; force controlled solutions depend on low level controller access that is not commonly available for generic cell setups. This paper proposes a three-step approach to compensate for process force induced accuracy errors: (1) selection of appropriate milling strategies and cutting parameters, (2) an offline compensation of the force induced deviations and (3) a respective online compensation method. Experimental validation of the results has been performed for the first two steps.}, language = {en} } @inproceedings{LehmannOlofssonNilssonetal., author = {Lehmann, Christian and Olofsson, Bj{\"o}rn and Nilsson, Klas and Halbauer, Marcel and Haage, Mathias and Robertsson, Anders and S{\"o}rnmo, Olof and Berger, Ulrich}, title = {Robot Joint Modeling and Parameter Identification Using the Clamping Method}, series = {Proceedings of 7th IFAC Conference on Manufacturing Modelling, Management and Control (MIM)}, booktitle = {Proceedings of 7th IFAC Conference on Manufacturing Modelling, Management and Control (MIM)}, isbn = {978-3-902823-35-9}, pages = {813 -- 818}, language = {en} } @incollection{LehmannPelliciariDrustetal., author = {Lehmann, Christian and Pelliciari, Marcello and Drust, Manuel and Gunnink, Jan Willem}, title = {Machining with industrial robots: the COMET project approach}, series = {Robotics in Smart Manufacturing. Communications in Computer and Information Science}, booktitle = {Robotics in Smart Manufacturing. Communications in Computer and Information Science}, publisher = {Springer}, address = {Berlin}, isbn = {978-3-642-39222-1}, pages = {27 -- 36}, language = {en} } @inproceedings{HalbauerLehmannStaedteretal., author = {Halbauer, Marcel and Lehmann, Christian and St{\"a}dter, Jost Philipp and Berger, Ulrich and Leali, Francesco}, title = {Milling strategies optimized for industrial robots to machine hard materials}, series = {2013 IEEE 18th Conference on Emerging Technologies \& Factory Automation (ETFA 2013), Cagliari, Italy, 10 - 13 September 2013, vol. 1}, booktitle = {2013 IEEE 18th Conference on Emerging Technologies \& Factory Automation (ETFA 2013), Cagliari, Italy, 10 - 13 September 2013, vol. 1}, publisher = {IEEE}, address = {Piscataway, NJ}, pages = {375 -- 378}, language = {en} } @inproceedings{LehmannStaedterBergeretal., author = {Lehmann, Christian and St{\"a}dter, Jost Philipp and Berger, Ulrich and Keller, Sebastian and Gnorski, Harry}, title = {Semi-automated Handling of Manhole Covers for Tank Wagon Processing Using Industrial Robots}, series = {IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2013), Tokyo, Japan, 3 - 7 November 2013}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2013), Tokyo, Japan, 3 - 7 November 2013}, language = {en} } @misc{BergerHalbauerLehmannetal., author = {Berger, Ulrich and Halbauer, Marcel and Lehmann, Christian and St{\"a}dter, Jost Philipp}, title = {Pr{\"a}zisionsfr{\"a}sen mit Industrierobotern - Strategien zur Reduzierung und Kompensation von durch Prozesskr{\"a}ften verursachte Genauigkeits-, Positionier- und Fertigungstoleranzabweichungen}, series = {Zeitschrift f{\"u}r wirtschaftlichen Fabrikbetrieb - ZWF}, volume = {107}, journal = {Zeitschrift f{\"u}r wirtschaftlichen Fabrikbetrieb - ZWF}, number = {7-8}, issn = {0947-0085}, pages = {533 -- 536}, language = {de} } @inproceedings{HalbauerLehmannStaedteretal., author = {Halbauer, Marcel and Lehmann, Christian and St{\"a}dter, Jost Philipp and Berger, Ulrich}, title = {Servicerobotik zum Handhaben biegeschlaffer Teile mittels Tiefenbildsensor}, series = {Automation 2013, 14. Branchentreff der Mess- und Automatisierungstechnik, Kongresshaus Baden-Baden, 25. und 26. Juni 2013}, booktitle = {Automation 2013, 14. Branchentreff der Mess- und Automatisierungstechnik, Kongresshaus Baden-Baden, 25. und 26. Juni 2013}, publisher = {VDI Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092209-6}, pages = {113 -- 116}, language = {de} } @inproceedings{LehmannHalbauervanderZwaagetal., author = {Lehmann, Christian and Halbauer, Marcel and van der Zwaag, Johnny and Schneider, Ulrich and Berger, Ulrich}, title = {Offline Path Compensation to Improve Accuracy of Industrial Robots for Machining Applications}, series = {Automation 2013, 14. Branchentreff der Mess- und Automatisierungstechnik, Kongresshaus Baden-Baden, 25. und 26. Juni 2013}, booktitle = {Automation 2013, 14. Branchentreff der Mess- und Automatisierungstechnik, Kongresshaus Baden-Baden, 25. und 26. Juni 2013}, publisher = {VDI Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092209-6}, pages = {147 -- 152}, language = {en} } @misc{StaedterLehmannHalbaueretal., author = {St{\"a}dter, Jost Philipp and Lehmann, Christian and Halbauer, Marcel and Berger, Ulrich and Gnorski, Harry and Schulze, T.}, title = {Automatisierte robotergest{\"u}tzte Gefahrgutverladung im explosionsgesch{\"u}tzten Outdoorbereich}, series = {Technische Sicherheit}, journal = {Technische Sicherheit}, issn = {2191-0073}, pages = {40 -- 46}, language = {de} } @inproceedings{HaageHalbauerLehmannetal., author = {Haage, Mathias and Halbauer, Marcel and Lehmann, Christian and St{\"a}dter, Jost Philipp}, title = {Increasing Robotic Machining Accuracy Using Offline Compensation Based on Joint-Motion Simulation}, series = {Proceedings for the joint conference of ISR 2014, 45th International Symposium on Robotics, Robotik 2014, 8th German Conference on Robotics, 2 - 3 June 2014 parallel to Automatica}, booktitle = {Proceedings for the joint conference of ISR 2014, 45th International Symposium on Robotics, Robotik 2014, 8th German Conference on Robotics, 2 - 3 June 2014 parallel to Automatica}, publisher = {VDE-Verlag}, address = {Berlin [u.a.]}, isbn = {978-3-8007-3601-0}, pages = {347 -- 354}, language = {en} } @misc{SchneiderDrustAnsalonietal., author = {Schneider, Ulrich and Drust, Manuel and Ansaloni, Matteo and Lehmann, Christian and Pelliciari, Marcello and Leali, Francesco and Gunnink, Jan Willem and Verl, Alexander}, title = {Improving robotic machining accuracy through experimental error investigation and modular compensation}, series = {International Journal of Advanced Manufacturing Technology}, volume = {85}, journal = {International Journal of Advanced Manufacturing Technology}, number = {1-4}, issn = {0268-3768}, doi = {10.1007/s00170-014-6021-2}, pages = {3 -- 15}, language = {en} } @phdthesis{Lehmann, author = {Lehmann, Christian}, title = {Entwicklung eines fehlertoleranten interaktiven Programmier- und Bedienkonzeptes f{\"u}r wandlungsf{\"a}hige Industrieroboterzellen}, publisher = {Shaker}, address = {Aachen}, isbn = {978-3-8440-4096-8}, pages = {XXVI, 167}, language = {de} } @inproceedings{LehmannWaechterStaedter, author = {Lehmann, Christian and W{\"a}chter, Kornelius and St{\"a}dter, Jost Philipp}, title = {A variant-flexible assembly cell for hydraulic valve sections using a sensitive lightweight robot}, series = {Robotics in the era of digitalisation, 47th International Symposium on Robotics, June 21-22, 2016, Messe M{\"u}nchen, Entrance East, Munich, Germany}, booktitle = {Robotics in the era of digitalisation, 47th International Symposium on Robotics, June 21-22, 2016, Messe M{\"u}nchen, Entrance East, Munich, Germany}, publisher = {VDE-Verlag}, address = {Berlin [u.a.]}, isbn = {978-3-8007-4231-8}, pages = {645 -- 651}, language = {en} } @misc{Lehmann, author = {Lehmann, Christian}, title = {Utilization of Sensitive Compliant Lightweight Robot Arms for Hydraulic Valve Assembly}, series = {Fluid Power Journal}, volume = {23}, journal = {Fluid Power Journal}, number = {1}, issn = {1073-7898}, pages = {40 -- 41}, language = {en} } @inproceedings{LehmannBergerZouetal., author = {Lehmann, Christian and Berger, Ulrich and Zou, Wenchao and Le, Duc Tho}, title = {Synchronisation von mobilen Robotern zu einer kontinuierlichen Fließfertigung f{\"u}r Montageaufgaben}, series = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, booktitle = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, publisher = {VDI-Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092258-4}, pages = {465 -- 475}, language = {de} } @inproceedings{LehmannBergerStaedteretal., author = {Lehmann, Christian and Berger, Ulrich and St{\"a}dter, Jost Philipp and Mariani, G. and Armento, A. and Cigarini, M.}, title = {Inline-Qualit{\"a}tspr{\"u}fung f{\"u}r Montageprozesse mittels impedanzgeregeltem Leichtbauroboter}, series = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, booktitle = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, publisher = {VDI-Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092258-4}, pages = {1035 -- 1044}, language = {de} } @inproceedings{LehmannBerger, author = {Lehmann, Christian and Berger, Ulrich}, title = {Fehlertolerantes Programmier- und Bedienkonzept f{\"u}r wandlungsf{\"a}hige Industrieroboterzellen}, series = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, booktitle = {Automation 2015, Baden-Baden, 11-12 Juni 2015}, publisher = {VDI-Verlag}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092258-4}, pages = {423 -- 434}, language = {de} } @incollection{LehmannBergerStaedter, author = {Lehmann, Christian and Berger, Ulrich and St{\"a}dter, Jost Philipp}, title = {Anwendungsbeispiele zur Integration heterogener Steuerungssysteme bei robotergest{\"u}tzten Industrieanlagen}, series = {Handbuch Industrie 4.0 : Produktion, Automatisierung und Logistik}, booktitle = {Handbuch Industrie 4.0 : Produktion, Automatisierung und Logistik}, editor = {Vogel-Heuser, Birgit and Bauernhansl, Thomas and Hompel, Michael}, publisher = {Springer Fachmedien}, address = {Wiesbaden}, isbn = {978-3-662-45537-1}, doi = {10.1007/978-3-662-45537-1_49-1}, pages = {1 -- 14}, language = {de} } @misc{VogelHeuserBergerSchuetzetal., author = {Vogel-Heuser, Birgit and Berger, Ulrich and Sch{\"u}tz, Daniel and Sch{\"o}ler, Thorsten and Jeschke, Sabina and Ewert, Daniel and Niggemann, Oliver and Windmann, Stefan and Lehmann, Christian}, title = {Agentenbasierte Cyber-Physische Produktionssysteme: Anwendungen f{\"u}r die Industrie 4.0}, series = {atp-edition}, volume = {57}, journal = {atp-edition}, number = {9}, issn = {0178-2320}, pages = {36 -- 45}, language = {de} } @inproceedings{ZiemsFischerKrautzetal., author = {Ziems, Christian and Fischer, Ulrich and Krautz, Hans Joachim and Luschtinetz, Thomas and Lehmann, Jochen}, title = {Project presentation-Novel 3D porous electrode materials for more efficient alkaline water electrolysis-AEL3D}, series = {Nutzung regenerativer Energiequellen und Wasserstofftechnik 2016, 23. Symposium Nutzung Regenerativer Energiequellen und Wasserstofftechnik, Stralsund, 3. - 5. November 2016}, booktitle = {Nutzung regenerativer Energiequellen und Wasserstofftechnik 2016, 23. Symposium Nutzung Regenerativer Energiequellen und Wasserstofftechnik, Stralsund, 3. - 5. November 2016}, publisher = {Fachhochschule}, address = {Stralsund}, isbn = {978-3-9817740-1-6}, pages = {175 -- 181}, language = {en} }