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Bauer, Christian

Christian Bauer

M.Sc.

Research Assistant "Drive Systems and Motion Control"
Institute for Control Engineering of Machine Tools and Manufacturing Units

Contact

+49 711 685 82432
Email
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Seidenstr. 36
70174 Stuttgart
Deutschland
Room: 5.021

Office Hours

by arrangement

Subject

Dynamics and accuracy improvement of drive trains
System identification and model-based closed-loop control

Publications

Publications:

2025
1. Bauer, C. J. E., Kamm, V., Dzubba, M., Steinle, L., Lechler, A., & Verl, A. (2025). Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series. 2025 IEEE International Conference on Industrial Technology (ICIT), 1–7. https://doi.org/10.1109/ICIT63637.2025.10965256
  - BibTeX
  - DOI
  BibTeX
  @inproceedings{10965256, abstract = {Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainly limited by inaccuracies in the drive trains. Compliance and transmission errors occur in the joint gearboxes. While transmission errors have been extensively studied for strain wave gears, there is little research on these errors in cycloidal drives. This gearbox type is commonly used in industrial robots for medium to heavy payloads. It is proposed to model the mainly periodic transmission errors using a Fourier series where amplitude and phase are defined as a polynomial function of the main influence factors load-torque, velocity, and temperature. Measurements of the transmission errors were conducted using an experimental setup representing a single robot joint. In the evaluation of the measurement data, harmonic frequencies were related to mechanical properties of the cycloidal drive. These frequencies were used to identify the parameters of the polynomial Fourier series model. Compared to validation measurements, the derived model shows an average root mean square error of 0.026 mrad. It is proposed to use the output of the resulting model in a feedforward control approach to compensate the transmission errors and to increase the path accuracy of industrial robots.}, author = {Bauer, Christian J. E. and Kamm, Valentin and Dzubba, Marcel and Steinle, Lukas and Lechler, Armin and Verl, Alexander}, booktitle = {2025 IEEE International Conference on Industrial Technology (ICIT)}, doi = {10.1109/ICIT63637.2025.10965256}, issn = {2643-2978}, month = {03}, pages = {1-7}, title = {Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series}, year = 2025 }
  DOI
  10.1109/ICIT63637.2025.10965256
2. Bauer, C. J. E. (2025). Replication Data for: “Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series”. https://doi.org/10.18419/darus-4454
  - BibTeX
  - DOI
  BibTeX
  @misc{bauer2025replication, abstract = {This dataset contains all identification and validation data used in the conference paper "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series".The experimental data was recorded using an experimental setup to identify the transmission error of cycloidal drives as described in the paper.The data is divided into the two folders, "identification" and "validation" containing one file per measurement. The file names contain the parameter combination of load torque tau_load in N m, input-side velocity theta_dot in rad and lubricant temperature T in °C. Each measurement file contains a table with the input-side position theta in rad in the first column and the transmission error theta_TE in rad in the second column.The MATLAB script "plot_figures.m" can be used to plot the position domain data from the figures 3 to 6 in the publication.The function "read_data.m" is applied to import all measurement data into two MATLAB structure arrays "identification" and "validation". }, affiliation = {Bauer, Christian Johannes Eugen/University of Stuttgart}, author = {Bauer, Christian Johannes Eugen}, doi = {10.18419/darus-4454}, howpublished = {Dataset}, note = {Related to: C. Bauer, V. Kamm, M. Dzubba, L. Steinle, A. Lechler, A. Verl, "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series", in 2025 IEEE International Conference on Industrial Technology (ICIT), Wuhan, China, 2025. doi: 10.1109/ICIT63637.2025.10965256}, orcid-numbers = {Bauer, Christian Johannes Eugen/https://orcid.org/0009-0002-7979-3877}, title = {Replication Data for: "Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series"}, year = 2025 }
  DOI
  10.18419/darus-4454
2024
1. Bauer, C. J. E., Lechler, A., & Verl, A. (2024). Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern. antriebstechnik. https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
  - BibTeX
  - Link
  BibTeX
  @article{bauer2024antriebstechnik, abstract = {Im Vergleich zu Werkzeugmaschinen erreichen Industrierobotereine geringe Absolut- und Bahngenauigkeit. Um neue Anwendungsgebiete für die Industrierobotik zu erschließen, forscht das Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW) der Universität Stuttgart daher an regelungstechnischen Lösungen zur Erhöhung der Genauigkeit. Sowohl Prozesse ohne externe Kräfte wie das Laserschneiden als auch Prozesse mit hohen Prozesskräften wie die spanende Bearbeitung sollen so für den Einsatz von Industrierobotern erschlossen werden.}, author = {Bauer, Christian J. E. and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, language = {de}, month = {09}, title = {Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40}, year = 2024 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
2. Bauer, C., Lechler, A., & Verl, A. (2024). Hohe Bahngenauigkeit : Übertragung kinematischer Übertragungsfehler in Zykloid-Getrieben von Industrierobotern. Antriebstechnik, 63, Article 9. https://doi.org/10.51202/2747-7991-2024-09-40
  - BibTeX
  - DOI
  BibTeX
  @article{bauer2024bahngenauigkeit, author = {Bauer, Christian and Lechler, Armin and Verl, Alexander}, doi = {10.51202/2747-7991-2024-09-40}, issn = {{0722-8546} and {2747-7991}}, journal = {Antriebstechnik}, language = {ger}, number = 9, pages = {40-42}, publisher = {Vereinigte Fachverlage}, title = {Hohe Bahngenauigkeit : Übertragung kinematischer Übertragungsfehler in Zykloid-Getrieben von Industrierobotern}, volume = 63, year = 2024 }
  DOI
  10.51202/2747-7991-2024-09-40
3. Schäfer, M. B., Riepe, S., Parenzan, M., Bauer, C. J. E., Hotz, J., Meiringer, J. G., Weiland, S., & Pott, P. P. (2024). Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery. In Current Directions in Biomedical Engineering (No. 2; Vol. 10). https://doi.org/10.1515/cdbme-2024-1068
  BibTeX
  @proceedings{schafer2023haptic, abstract = {Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3 N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.}, author = {Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Bauer, Christian J. E. and Hotz, Jonas and Meiringer, Johannes G. and Weiland, Sophie and Pott, Peter P.}, booktitle = {Current Directions in Biomedical Engineering}, doi = {10.1515/cdbme-2024-1068}, eventdate = {24.-26.08.2023}, eventtitle = {CURAC 2023}, month = {09}, number = 2, title = {Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery}, url = {https://doi.org/10.1515/cdbme-2024-1068}, venue = {Basel}, volume = 10, year = 2024 }
  Link
  https://doi.org/10.1515/cdbme-2024-1068
  DOI
  10.1515/cdbme-2024-1068
4. Bauer, C. J. E., Schäfer, M. B., Riepe, S., Parenzan, M., Weiland, S., & Pott, P. P. (2024). Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach. In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 502–507). https://doi.org/10.1109/BioRob60516.2024.10719769
  BibTeX
  @proceedings{bauer2024biorob, abstract = {One of the major disadvantages of robot-assisted surgery is the absence of haptic feedback. A haptic user interface (HUI), which is part of a telemanipulation system addressing this issue, is described. To generate high-quality haptic feedback using the HUI, it is necessary to have a precise understanding of the system's behavior. The capstan drive of the HUI is modeled as a rotational two-mass system. The mechanical parameters are determined by minimizing the error between the mechanical transfer function, defined by motor torque as input and velocity as output, and measured frequency responses. The relationship between motor current and torque is approximated as Fourier series depending on the motor angle. Friction is modeled as Coulomb and viscous friction, Stribeck curve, and continuous approximation of the Stribeck curve. The model is utilized to enhance the precision of the generated feedback force. The described system enables the generation of haptic feedback with a maximum force of 6 N, a force resolution of 0.05 N, and a usable frequency bandwidth of 31 Hz.}, author = {Bauer, Christian J. E. and Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Weiland, Sophie and Pott, Peter P.}, booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, doi = {10.1109/BioRob60516.2024.10719769}, eventdate = {02.-04.09.2024}, eventtitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, isbn = {979-8-3503-8652-3}, issn = {2155-1782}, month = {10}, pages = {502-507}, title = {Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach}, url = {https://doi.org/10.1109/BioRob60516.2024.10719769}, venue = {Heidelberg}, year = 2024 }
  Link
  https://doi.org/10.1109/BioRob60516.2024.10719769
  DOI
  10.1109/BioRob60516.2024.10719769

Christian Bauer

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Publications

2025

BibTeX

DOI

BibTeX

DOI

2024

BibTeX

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BibTeX

DOI

BibTeX

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BibTeX

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Christian Bauer

Contact

Office Hours

Subject

Publications

2025

BibTeX

DOI

BibTeX

DOI

2024

BibTeX

Link

BibTeX

DOI

BibTeX

Link

DOI

BibTeX

Link

DOI

Here you can reach the ISW

Audience

Formalities

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