Dipl.-Inform. Jürgen Kunz

Jürgen Kunz
Address Dipl.-Inform. Jürgen Kunz
Simulation, Systems Optimization and Robotics Group
Department of Computer Science
Technische Universität Darmstadt
Hochschulstr. 10
D-64289 Darmstadt, Germany
Office Robert-Piloty-Gebäude S2|02, 2nd floor
Room E215
Phone
Fax
+49 (0)6151 / 16-25570
+49 (0)6151 / 16-25569
E-Mail jkunz"at"sim.tu-darmstadt.de

Research topics

     

  • Optimal trajectory planning and control of joint compliant robots with series elastic, tendon-driven actuation
  •  

Publications

2016

J. Wojtusch, J. Kunz, O. von Stryk
MBSlib - An Efficient Multibody Systems Library for Kinematics and Dynamics Simulation, Optimization and Sensitivity Analysis
In: Robotics and Automation Letters, IEEE, Vol. 1, No. 2, pp. 954-960, 2016

2010

M. Schweitzer, C. Trommer, A. Karguth, J. Kunz, T. Lens, O. v. Stryk
Safe Human Interaction with the Compliant Robot Arm BioRob
In: 55. Internationales Wissenschaftliches Kolloquium 2010 der TU Ilmenau, TU Ilmenau (Hrsg.), 2010
T. Lens, J. Kunz, O. von Stryk
Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Vol. 6472, pp. 411-422, Springer, 2010
T. Lens, J. Kunz, C. Trommer, A. Karguth, O. von Stryk
BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications
In: 41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010), pp. 905-910, Jun, 2010

2009

Jürgen Kunz
Steuerungssoftware und Regelalgorithmen für einen gelenkelastischen Manipulator
Technische Universität Darmstadt, Department of Computer Science
(2009)

Software / Tools / Scripts

Mathematica®-Script for symbolic calculation of the inverse robot dynamics using Newton-Euler method (Script, Example) (tested in V9.0)

MATLAB®-Script for symbolic calculation of the inverse robot dynamics using Newton-Euler method (Script and example) (tested in R2008b)

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