Research Associate in "Model predictive control of cooperative robot manipulators" (m/w/d)
Contributed by: Naim Bajcinca, mec-apps@mv.uni-kl.de
Research Framework
The efficient deployment of multiple cooperating robotic manipulators in challenging industrial applications brings the promise of shorter processing and task execution times. Usually, in such settings, robots communicate with each other, share sensor information, and coordinate their motions to perform the assigned tasks jointly. However, this can result in robots working close to each other with high overlapping operation areas, which leads to challenging robot motions with high collision potential. This poses new challenges to task and trajectory planning, especially when considering online planning methods. For an efficient and safe robot deployment, prediction-based methods are introduced following a hierarchical control scheme with two optimization-based control policies, a discrete one for task scheduling and a continuous one for trajectory planning.
Task Description
Ongoing research activities on cooperative control of robot manipulators include the following:
- The development of optimization-based algorithms for cooperative robot task planning
- The development of predictive-based algorithms for planning collision-free trajectories for cooperating robotic manipulators in confined working environments
- Optimization-based motion coordination of robotic arms with an omnidirectional mobile robot as part of a dual-armed mobile robotic system
- Coupling of the planning algorithms with computer vision
- Algorithm Implementation on robot manipulators (UR5 from Universal Robots) and mobile robots using ROS (Robot Operating System)
Qualification
- Above average university degree in the field of control engineering, electrical engineering, computer science of mathematics
- Strong analytical and problem-solving skills to address complex issues related to robotic systems
- Advanced knowledge in control engineering and optimization
- Knowledge of at least one programming language: Matlab, Python, C++
- Knowledge in modeling, analyzing, implementing and solving optimization problems
- ROS (Robot Operating System) knowledge is of advantage
- Organizational and cooperation skills with scientific as well as industrial partners of different disciplines
- Proficiency in English or / and German is essential
Application procedure and deadline:
Applications must include the following elements (as a single PDF file):
- Cover letter with a brief description of why you want to pursue research studies, about what your academic interests are, and how they relate to your previous studies and future goals
- CV including your relevant professional experience and knowledge
- Copies of diplomas and grades from previous university studies
- Two references
- List of publications
Send an email with the required documents to the address: @mec-apps@mv.uni-kl.de. We will process your application as soon as received. The application deadline is 12:00AM CEST 30. June 2024.
For more information, visit our webpage: https://mv.rptu.de/fgs/mec/research
