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Reichenbach, Thomas

Thomas Reichenbach

M.Sc.

Research Assistant "Mechatronic Systems and Processes"
Institute for Control Engineering of Machine Tools and Manufacturing Units

Contact

+49 711 685 84524
+49 711 685 74524
Email

Seidenstr. 36
70174 Stuttgart
Germany
Room: 5.025

Office Hours

On appointment

Subject

Drive systems of moving ropes
Control of cable-driven parallel robots
Cable-driven parallel robots with endless rotating axes
Modeling of mechatronic systems

Publications

My publications:

2025
1. T. Reichenbach, J. Clar, A. Pott, and A. Verl, “Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots,” in Cable-Driven Parallel Robots, D. Lau, A. Pott, and T. Bruckmann, Eds., Cham: Springer Nature Switzerland, 2025, pp. 209–221.
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  @inproceedings{10.1007/978-3-031-94608-0_17, abstract = {This paper presents an experimental investigation of a novel control method designed to adaptively adjust the preload of cable-driven parallel robots in their nullspace. Precise motion of cable robots is challenging due to positioning errors caused by cable actuation or environmental influences. Current model-based control concepts minimize errors by identifying system-specific parameters, whereas the presented adaptive preload control (APC) method is generic, focusing on platform preload and adaptive stiffness adjustment to improve the performance of cable robots. A real-time preload parameter optimization is used to compute valid force distribution set-points, requiring only the parameterization of a force controller for integration. To evaluate the performance, the experiments follow standardized procedures, evaluating position and path repeatability and accuracy according to ISO 9283. The proposed APC method achieves improvements in path repeatability and accuracy ranging from 30{\%} to 58{\%}, compared to standard position control methods based solely on inverse kinematics. Furthermore, the investigation shows correlations between path accuracy, platform stiffness, and power consumption.}, address = {Cham}, author = {Reichenbach, Thomas and Clar, Johannes and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, editor = {Lau, Darwin and Pott, Andreas and Bruckmann, Tobias}, isbn = {978-3-031-94608-0}, pages = {209--221}, publisher = {Springer Nature Switzerland}, title = {Experimental Investigation on Adaptive Preload Control for Cable-Driven Parallel Robots}, year = 2025 }
2024
1. J. Clar, F. Trautwein, T. Reichenbach, A. Verl, and M. Neubauer, “Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique,” in Advances in Robot Kinematics 2024, J. Lenarcic and M. Husty, Eds., Cham: Springer Nature Switzerland, 2024, pp. 149–156.
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  @inproceedings{10.1007/978-3-031-64057-5_18, abstract = {Cable-Driven Parallel Robots (CDPRs) can be used where a large workspace is required or where high payloads need to be handled. However, certain applications may avoid CDPRs due to drawbacks such as potential cable collisions. To improve the usability of CDPRs, the fixed frame anchors can be mounted on reconfiguration axes. This results in more complex kinematics that are challenging to control. This paper introduces a gradient descent approximation technique for reconfigurable CDPRs (RCDPRs) to identify, with low computational effort, appropriate configurations for a given platform pose to achieve a larger workspace. A workspace study shows a wrench-feasible workspace enlargement up to 28{\%} when using this reconfiguration technique on an RCDPR compared to a common CDPR.}, address = {Cham}, author = {Clar, Johannes and Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander and Neubauer, Michael}, booktitle = {Advances in Robot Kinematics 2024}, editor = {Lenar{\v{c}}i{\v{c}}, Jadran and Husty, Manfred}, isbn = {978-3-031-64057-5}, pages = {149--156}, publisher = {Springer Nature Switzerland}, title = {Actuated In-Operation-Reconfiguration of a Cable-Driven Parallel Robot with a Gradient Descent Approximation Technique}, year = 2024 }
2. T. Reichenbach, J. Clar, A. Pott, and A. Verl, “Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task,” in Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024, M.-C. Wanner, T. Schüppstuhl, and K. Tracht, Eds., Springer Cham, 2024. [Online]. Available: https://arxiv.org/abs/2403.19293
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  BibTeX
  @inproceedings{reichenbach2024adaptivepreloadcontrolcabledriven, archiveprefix = {arXiv}, author = {Reichenbach, Thomas and Clar, Johannes and Pott, Andreas and Verl, Alexander}, booktitle = {Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2024}, editor = {Wanner, Martin-Christoph and Schüppstuhl, Thorsten and Tracht, Kirsten}, eprint = {2403.19293}, primaryclass = {cs.RO}, publisher = {Springer Cham}, title = {Adaptive Preload Control of Cable-Driven Parallel Robots for Handling Task}, url = {https://arxiv.org/abs/2403.19293}, year = 2024 }
  Link
  https://arxiv.org/abs/2403.19293
2023
1. T. Reichenbach, F. Trautwein, P. Andreas, and V. Alexander, “Development of a Cable Actuator Test Rig for Identification of Dynamic Running Properties of Synthetic Fiber Ropes,” Volume 2023, p. Issue 1, 2023, doi: 10.2195/LJ_PROC_REICHENBACH_EN_202310_01.
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  @article{https://doi.org/10.2195/lj_proc_reichenbach_en_202310_01, author = {Reichenbach, Thomas and Trautwein, Felix and Andreas, Pott and Alexander, Verl}, copyright = {cc-by}, doi = {10.2195/LJ_PROC_REICHENBACH_EN_202310_01}, journal = {Volume 2023}, language = {en}, pages = {Issue 1}, publisher = {Wissenschaftliche Gesellschaft für Technische Logistik}, title = {Development of a Cable Actuator Test Rig for Identification of Dynamic Running Properties of Synthetic Fiber Ropes}, url = {https://www.logistics-journal.de/proceedings/2023/5804}, year = 2023 }
  Link
  https://www.logistics-journal.de/proceedings/2023/5804
2. F. Trautwein, T. Reichenbach, A. Pott, and A. Verl, “A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots,” in Cable-Driven Parallel Robots, vol. 132, S. Caro, A. Pott, and T. Bruckmann, Eds., Cham: Springer Nature Switzerland, 2023, pp. 261–272. doi: 10.1007/978-3-031-32322-5_21.
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  @inbook{trautwein2023predictorcorrectorscheme, address = {Cham}, author = {Trautwein, Felix and Reichenbach, Thomas and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-031-32322-5_21}, editor = {Caro, Stéphane and Pott, Andreas and Bruckmann, Tobias}, isbn = {9783031323218}, pages = {261--272}, publisher = {Springer Nature Switzerland}, title = {A Predictor-Corrector-Scheme for the Geometry Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots}, url = {https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21}, volume = 132, year = 2023 }
  Link
  https://link.springer.com/chapter/10.1007/978-3-031-32322-5_21
3. T. Reichenbach and A. Verl, “Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen,” antriebstechnik, vol. 2023, Art. no. 09, Sep. 2023, [Online]. Available: https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40
  - BibTeX
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  BibTeX
  @article{reichenbach2023seilwindenprfstand, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {GmbH, Vereinigte Fachverlage}, journal = {antriebstechnik}, month = {09}, number = 09, pages = {40-42}, title = {Seilwindenprüfstand zur Untersuchung hochdynamischer Schlupf- und Reibeigenschaften von Kunststofffaserseilen}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40}, volume = 2023, year = 2023 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-9-2023/68394687/40
4. F. Trautwein, T. Reichenbach, and A. Verl, “Steuerung rekonfigurierbarer Seilroboter,” antriebstechnik Sonderausgabe Marktübersicht - Innovation Scout 2023. Vereinigte Fachverlage, p. 44, Jan. 2023. [Online]. Available: https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44
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  @misc{trautwein2023steuerung, author = {Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander}, editor = {Fachverlage, Vereinigte}, howpublished = {Online-Zeitschriftenartikel}, journal = {antriebstechnik Sonderausgabe Marktübersicht - Innovation Scout 2023}, month = {01}, pages = 44, publisher = {Vereinigte Fachverlage}, title = {Steuerung rekonfigurierbarer Seilroboter}, url = {https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44}, year = 2023 }
  Link
  https://digital.antriebstechnik.de/ant-marktuebersicht-2023/67408166/44
2022
1. T. Reichenbach, F. Trautwein, A. Pott, and A. Verl, “Parallele Seilroboter: Endlose Rotation durch Hybridstruktur,” Fachtagung VDI MECHATRONIK 2022, 2022, doi: 10.26083/TUPRINTS-00020963.
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  @article{https://doi.org/10.26083/tuprints-00020963, author = {Reichenbach, Thomas and Trautwein, Felix and Pott, Andreas and Verl, Alexander}, copyright = {Creative Commons Attribution 4.0 International}, doi = {10.26083/TUPRINTS-00020963}, editor = {Bertram, Torsten and Corves, Burkhard and Janschek, Klaus and Rinderknecht, Stephan}, journal = {Fachtagung VDI MECHATRONIK 2022}, title = {Parallele Seilroboter: Endlose Rotation durch Hybridstruktur}, url = {https://tuprints.ulb.tu-darmstadt.de/id/eprint/20963}, year = 2022 }
  Link
  https://tuprints.ulb.tu-darmstadt.de/id/eprint/20963
2021
1. F. Trautwein, T. Reichenbach, A. Pott, and A. Verl, “Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots,” in Cable-Driven Parallel Robots, M. Gouttefarde, T. Bruckmann, and A. Pott, Eds., Cham: Springer International Publishing, 2021, pp. 182–193. doi: 10.1007/978-3-030-75789-2_15.
  - BibTeX
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  BibTeX
  @inproceedings{10.1007/978-3-030-75789-2_15, abstract = {This paper presents a planning method to systematically determine a geometry for a cable-driven parallel robot (short: cable robot) that satisfies a given workspace requirement. Furthermore, the method should be suitable for a fast workspace planning during In-Operation-Reconfiguration which implies that the algorithm should be executable fast, i.e. the aim is a computation time below one second. To do so, firstly the theoretical backgrounds for kinematics and workspace analysis of cable robots are introduced. Based on that, the parameter restrictions are modelled in terms of continuous closed sets, which are later used as bounds during the planning process. Afterwards, the theoretical problem of reconfiguration is presented and the solution strategy is proposed. In order to evaluate the given method, in the last section an exemplary reconfiguration situation is investigated, which shows that the method is suitable for the purpose to determine a cable robot for a given workspace requirement.}, address = {Cham}, author = {Trautwein, Felix and Reichenbach, Thomas and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-030-75789-2_15}, editor = {Gouttefarde, Marc and Bruckmann, Tobias and Pott, Andreas}, isbn = {978-3-030-75789-2}, pages = {182--193}, publisher = {Springer International Publishing}, title = {Workspace Planning for In-Operation-Reconfiguration of Cable-Driven Parallel Robots}, url = {https://doi.org/10.1007/978-3-030-75789-2_15}, year = 2021 }
  Link
  https://doi.org/10.1007/978-3-030-75789-2_15
2. T. Reichenbach and A. Verl, “Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen,” Konstruktion, Art. no. 4, Apr. 2021.
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  @article{reichenbach2021seilroboter, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Matthiesen, Sven and Wartzack, Sandro and Zimmer, Detmar}, institution = {VDI fachmedien}, journal = {Konstruktion}, month = {04}, number = 4, pages = 40, title = {Seilroboter im prüfenden Blick, Hochdynamikuntersuchung von Seilwinden mit Kunststofffaserseilen}, year = 2021 }
3. T. Reichenbach, K. Rausch, F. Trautwein, A. Pott, and A. Verl, “Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis,” in Cable-Driven Parallel Robots, M. Gouttefarde, T. Bruckmann, and A. Pott, Eds., Cham: Springer International Publishing, 2021, pp. 230–242. doi: 10.1007/978-3-030-75789-2_19.
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  @inproceedings{10.1007/978-3-030-75789-2_19, abstract = {One important design criteria of a cable-driven parallel robot is its workspace. Disturbance effects on drive systems, pulley mechanisms and cables have a major impact on the workspace due to their influence on cable forces. Thus, the computed wrench-feasible workspace with ideal kinematic constraints may not be valid while operating the platform of a cable robot. To ensure that the platform moves within the workspace, cable forces can be controlled, whereby kinematic inaccuracies such as calibration errors affecting the platform's positional accuracy. Hence, in this paper a concept of the velocity based hybrid position-force controller is presented in order to pretension cable forces on one hand, and ensure positioning accuracy on the other hand. The controller stability is investigated on extreme poses outside the wrench-feasible workspace hull of a dynamic model of a planar cable robot in simulation environment. Thereupon, the hybrid controller was implemented in a real-time control system and analyzed on the cable robot setup COPacabana with experiments inside and outside the computed workspace border. The analysis of measured signals is based on statistical investigation by performing multiple measurements of the same platform trajectory. Both, simulation and experiments show that the proposed velocity based hybrid position-force controller is feasible and can be applied to move the platform outside the workspace.}, address = {Cham}, author = {Reichenbach, Thomas and Rausch, Kathrin and Trautwein, Felix and Pott, Andreas and Verl, Alexander}, booktitle = {Cable-Driven Parallel Robots}, doi = {10.1007/978-3-030-75789-2_19}, editor = {Gouttefarde, Marc and Bruckmann, Tobias and Pott, Andreas}, isbn = {978-3-030-75789-2}, pages = {230--242}, publisher = {Springer International Publishing}, title = {Velocity Based Hybrid Position-Force Control of Cable Robots and Experimental Workspace Analysis}, url = {https://doi.org/10.1007/978-3-030-75789-2_19}, year = 2021 }
  Link
  https://doi.org/10.1007/978-3-030-75789-2_19
2020
1. F. Trautwein, T. Reichenbach, and A. Verl, “Seilroboter als rekonfigurierbare Handhabungssysteme,” 7–8, Aug. 2020.
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  @techreport{trautwein2020seilroboter, author = {Trautwein, Felix and Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {08}, number = {7-8}, pages = {28-29}, title = {Seilroboter als rekonfigurierbare Handhabungssysteme}, year = 2020 }
2. F. Trautwein, T. Reichenbach, P. Tempel, A. Pott, and A. Verl, “COPacabana: A Modular Cable-Driven Parallel Robot,” in Sechste IFToMM D-A-CH Konferenz, vol. 2020, 2020. doi: 10.17185/duepublico/71189.
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  @incollection{Trautwein.2020, abstract = {Due to their use of modular components, cable-driven parallel robots are prime candidates for use as reconfigurable robotic manipulators. Reconfiguration comprises both the change of the geometry as well as topological changes such as adding or removing axes. To validate practicability of methods for reconfiguration, we developed the reconfigurable cable-driven parallel robot Cable-Operated Parallel Robot (COPacabana). This paper presents the mechanical design as well as the hardware and software in use on the test rig. Further use cases for validation of research findings are presented as well.}, author = {Trautwein, Felix and Reichenbach, Thomas and Tempel, Philipp and Pott, Andreas and Verl, Alexander}, booktitle = {Sechste IFToMM D-A-CH Konferenz}, doi = {10.17185/duepublico/71189}, file = {1ccdb281-835c-4959-be53-eb5ef6b33537:C\:\\Users\\ac123748\\AppData\\Local\\Swiss Academic Software\\Citavi 6\\ProjectCache\\cusz0rmxhlz77jjnyb5zp4hwqdh14zphlkpe42130wtgp54k\\Citavi Attachments\\1ccdb281-835c-4959-be53-eb5ef6b33537.pdf:pdf}, title = {COPacabana: A Modular Cable-Driven Parallel Robot}, volume = 2020, year = 2020 }
2019
1. T. Reichenbach, P. Tempel, A. Verl, and A. Pott, “On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation,” in Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics, C.-H. e. al. Kuo, Ed., Springer Switzerland, 2019. doi: https://doi.org/10.1007/978-3-030-30036-4.
  - BibTeX
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  BibTeX
  @inproceedings{Reichenbach.2019b, author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas}, booktitle = {Proceedings of the 6th IFToMM International Symposium on Robotics and Mechatronics}, doi = {https://doi.org/10.1007/978-3-030-30036-4}, editor = {Kuo, Chin-Hsing et al.}, publisher = {Springer Switzerland}, title = {On Kinetostatics and Workspace Analysis of Multi-Platform Cable-Driven Parallel Robots with Unlimited Rotation}, url = {https://doi.org/10.1007/978-3-030-30036-4}, year = 2019 }
  Link
  https://doi.org/10.1007/978-3-030-30036-4
2. T. Reichenbach and A. Verl, “Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse,” 6, Jun. 2019.
  - BibTeX
  BibTeX
  @techreport{reichenbach2019umdrehungen, author = {Reichenbach, Thomas and Verl, Alexander}, editor = {Eberhard, Peter}, journal = {handling}, month = {06}, number = 6, pages = 24, title = {Umdrehungen ohne Ende. Seilroboter mit endloser Rotationsachse}, year = 2019 }
3. T. Reichenbach, P. Tempel, A. Verl, and A. Pott, “Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation,” in Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots, A. Pott and T. Bruckmann, Eds., in Advances in Mechanism and Machine Science. Springer Switzerland, 2019. doi: https://doi.org/10.1007/978-3-030-20751-9_11.
  - BibTeX
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  @inproceedings{reichenbach2019static, author = {Reichenbach, Thomas and Tempel, Philipp and Verl, Alexander and Pott, Andreas}, booktitle = {Proceedings of the Fourth International Conference on Cable-Driven Parallel Robots}, doi = {https://doi.org/10.1007/978-3-030-20751-9_11}, editor = {Pott, Andreas and Bruckmann, Tobias}, publisher = {Springer Switzerland}, series = {Advances in Mechanism and Machine Science}, title = {Static Analysis of a Two-Platform Planar Cable-Driven Parallel Robot with Unlimited Rotation}, url = {https://doi.org/10.1007/978-3-030-20751-9_11}, year = 2019 }
  Link
  https://doi.org/10.1007/978-3-030-20751-9_11
2017
1. D. Claus et al., “Large-field-of-view optical elastography using digital image correlation for biological soft tissue investigation,” Journal of Medical Imaging, vol. 4, Art. no. 1, Mar. 2017, doi: 10.1117/1.jmi.4.1.014505.
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  @article{Claus_2017, author = {Claus, Daniel and Mlikota, Marijo and Geibel, Jonathan and Reichenbach, Thomas and Pedrini, Giancarlo and Mischinger, Johannes and Schmauder, Siegfried and Osten, Wolfgang}, doi = {10.1117/1.jmi.4.1.014505}, journal = {Journal of Medical Imaging}, month = {03}, number = 1, pages = 014505, publisher = {{SPIE}-Intl Soc Optical Eng}, title = {Large-field-of-view optical elastography using digital image correlation for biological soft tissue investigation}, url = {https://doi.org/10.1117%2F1.jmi.4.1.014505}, volume = 4, year = 2017 }
  Link
  https://doi.org/10.1117%2F1.jmi.4.1.014505

Thomas Reichenbach

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2025

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2024

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2023

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2022

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2021

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2020

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