Manuel Zürn

Herr M.Sc.

Wissenschaftlicher Mitarbeiter "Mechatronische Systeme und Prozesse"
Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen

Kontakt

+49 711 685 82423
E-Mail

Seidenstr. 36
70174 Stuttgart
Deutschland
Raum: 5.096

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Publikationen

Meine Veröffentlichungen:

2022
1. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study. In: 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE), 2022, S. 9–16
  - BibTeX
  BibTeX
  @inproceedings{9814824, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)}, doi = {10.1145/3526071.3527520}, pages = {9-16}, title = {Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study}, year = 2022 }
2. Zürn, Manuel ; Wnuk, Markus ; Schneider, Anja ; Lechler, Armin ; Verl, Alexander: Localization and Tracking of Deformable Linear Objects with Self Organizing Maps. In: Proceedings of the 54th International Symposium on Robotics (ISR), Proceedings of the 54th International Symposium on Robotics (ISR), 2022, S. 17–25
  - BibTeX
  BibTeX
  @inproceedings{zurn2022localization, author = {Zürn, Manuel and Wnuk, Markus and Schneider, Anja and Lechler, Armin and Verl, Alexander}, booktitle = {Proceedings of the 54th International Symposium on Robotics (ISR)}, pages = {17-25}, title = {Localization and Tracking of Deformable Linear Objects with Self Organizing Maps}, year = 2022 }
2021
1. Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Steiler, Christian ; Paukner, Matthias ; Trommnau, Jerome ; Weiß, Bernd ; Minsch, Niklas ; u. a.: Leitungen automatisch im Kfz montieren. In: Industrial Production, Industrial Production. (2021), Nr. 7, S. 40–42
  - BibTeX
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  BibTeX
  @article{zurn2021leitungen, author = {Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Steiler, Christian and Paukner, Matthias and Trommnau, Jerome and Weiß, Bernd and Minsch, Niklas and Mittermeier, Manfred and Hessler, Uwe and Pollner, Roland}, journal = {Industrial Production}, number = 7, pages = {40-42}, title = {Leitungen automatisch im Kfz montieren}, url = {https://www.industrial-production.de/montagetechnik/leitungen-automatisch----im-kfz-montieren.htm}, year = 2021 }
  Link
  https://www.industrial-production.de/montagetechnik/leitungen-automatisch----im-kfz-montieren.htm
2. Wnuk, Markus ; Zürn, Manuel ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander: Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile. In: antriebstechnik, antriebstechnik. (2021), Nr. 7, S. 38–42
  - BibTeX
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  BibTeX
  @article{wnuk2021simulationsbasierter, author = {Wnuk, Markus and Zürn, Manuel and Hinze, Christoph and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, month = {07}, number = 7, pages = {38-42}, title = {Simulationsbasierter Beobachter für die Handhabungbiegeschlaffer Bauteile}, url = {https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38}, year = 2021 }
  Link
  https://digital.antriebstechnik.de/antriebstechnik-7-2021/65722079/38
3. Zürn, Manuel ; Wnuk, Markus ; Hinze, Christoph ; Lechler, Armin ; Verl, Alexander ; Xu, Weiliang: Kinematic Trajectory Following Control For Constrained Deformable Linear Objects. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 2021, S. 1701–1707
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  @inproceedings{9551613, abstract = {deformable linear objects (DLOs) such as hoses, cables or wires are often a limiting factor in robotic manipulation. For an industrial robot control, their nonlinear dynamics combined with their large variations in material parameters make it challenging to handle. Therefore, DLOs are usually manipulated manually in the industry, offering a huge potential for automation. This paper contributes to the field of robotic handling of DLOs by presenting and evaluating a novel model based controller and observer concept which is based on a multibody simulation. The presented closed-loop framework of a kinematic trajectory following controller with an online point cloud processing observer is first evaluated separately in the simulation and then in an experiment, showing its potential for cable routing scenarios.}, author = {Zürn, Manuel and Wnuk, Markus and Hinze, Christoph and Lechler, Armin and Verl, Alexander and Xu, Weiliang}, booktitle = {2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)}, doi = {10.1109/CASE49439.2021.9551613}, issn = {2161-8089}, month = {08}, pages = {1701-1707}, title = {Kinematic Trajectory Following Control For Constrained Deformable Linear Objects}, year = 2021 }
4. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Pan, Qizhen ; Lechler, Armin ; Verl, Alexander: Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification. In: 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice, 2021
  - BibTeX
  BibTeX
  @inproceedings{wnuk2021tracking, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Pan, Qizhen and Lechler, Armin and Verl, Alexander}, booktitle = {2021 IEEE 27th International Conference on Machatronics and Machine Vision in Practice}, month = {11}, title = {Tracking Branched Deformable Linear Objects With Structure Preserved Registration by Branch-wise Probability Modification}, year = 2021 }
2020
1. Wnuk, Markus ; Hinze, Christoph ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Roboterdemonstrator kombiniert Simulation und Bildverarbeitung. In: Robotik und Produktion, Robotik und Produktion. (2020), Nr. 3
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  BibTeX
  @article{wnuk2020roboterdemonstrator, author = {Wnuk, Markus and Hinze, Christoph and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, number = 3, title = {Roboterdemonstrator kombiniert Simulation und Bildverarbeitung}, url = {https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/}, year = 2020 }
  Link
  https://www.robotik-produktion.de/allgemein/deformiert-kein-problem/
2. Zürn, Manuel ; Hinze, Christoph ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Modellbasierte Regelung. In: Robotik und Produktion, Robotik und Produktion. (2020)
  - BibTeX
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  BibTeX
  @article{zurn2020modellbasierte, author = {Zürn, Manuel and Hinze, Christoph and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, journal = {Robotik und Produktion}, month = {11}, title = {Modellbasierte Regelung}, url = {https://www.industrial-production.de/industrieroboter/bilder/modellbasierte-regelung-1.htm}, year = 2020 }
  Link
  https://www.industrial-production.de/industrieroboter/bilder/modellbasierte-regelung-1.htm
3. Hinze, Christoph ; Zürn, Manuel ; Wnuk, Markus ; Lechler, Armin ; Verl, Alexander: Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation. In: IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society, 2020, S. 310–316
  - BibTeX
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  BibTeX
  @inproceedings{9254923, abstract = {The handling of deformable linear objects (DLOs), such as cables or hoses, with industrial robots is hardly industrially automated due to the underactuated material behavior. Increasing computing power and decreasing cost of processors over the last decades are now allowing the online computation of more complex handling processes. Within this paper, DLOs are approximated as a multibody chain with a finite number of degrees of freedom. Based on that model, a nonlinear, partially IO-linearizing controller is derived to control an underactuated end point on a trajectory when grasped by a robot arm at the other end. The controller is verified in simulation for high dynamics and shown to significantly reduce the tracking error. A practical evaluation finally shows the qualitative suitability of the multibody approximation and is used to validate the functionality of the controller in an open-loop experiment.}, author = {Hinze, Christoph and Zürn, Manuel and Wnuk, Markus and Lechler, Armin and Verl, Alexander}, booktitle = {IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society}, doi = {10.1109/IECON43393.2020.9254923}, issn = {2577-1647}, month = {10}, pages = {310-316}, title = {Nonlinear Trajectory Control for Deformable Linear Objects based on Physics Simulation}, url = {https://ieeexplore.ieee.org/document/9254923/}, year = 2020 }
  Link
  https://ieeexplore.ieee.org/document/9254923/
4. Hinze, Christoph ; Wnuk, Markus ; Zürn, Manuel ; Lechler, Armin ; Verl, Alexander: Daten-integrierte Simulation. In: inVision, inVision. (2020)
  - BibTeX
  - Link
  BibTeX
  @article{hinze2020datenintegrierte, author = {Hinze, Christoph and Wnuk, Markus and Zürn, Manuel and Lechler, Armin and Verl, Alexander}, journal = {inVision}, title = {Daten-integrierte Simulation}, url = {https://invision-news.de/allgemein/daten-integrierte-simulation-2/}, year = 2020 }
  Link
  https://invision-news.de/allgemein/daten-integrierte-simulation-2/

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Manuel Zürn

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2022

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2021

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2020

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