High-temperature superconductors (HTS) and advanced fusion technologies require precisely manufactured coils with reproducible winding quality. For this purpose, robotic winding systems with multi-robot coordination shall be developed and investigated. The goal of this thesis is the development and implementation of a ROS-based path planning and synchronization concept for the automated winding of fusion coils using two cooperating robots.

Tasks

• Familiarization with the fundamentals of fusion coils, robotic winding processes, and ROS-based motion planning
• Analysis of the existing robotic setup and kinematics of both robots (coil rotation robot and winding robot)
• Mathematical description of tangent-based winding trajectories on the coil surface
• Development of a transformation pipeline for mapping tangent end points into the rotating TCP (tool center point) frame of the first robot
• Design and implementation of a ROS-based motion planning strategy for the second robot to follow the transformed tangent end points
• Development of a synchronization scheme for both robots to enable coordinated motion (coil rotation and synchronous winding)
• Integration, testing, and experimental validation of the approach on the existing laboratory setup
• Evaluation of path accuracy, synchronization quality, and winding reproducibility
• Documentation of the methods, implementation, and experimental results

Requirements

• Strong interest in robotics, motion planning, and control of multi-robot systems
• Basic knowledge of robot kinematics and coordinate transformations
• Experience with ROS (preferably ROS1 as currently the setup runs in ROS1) and Linux is an advantage
• Programming skills in Python and/or C++
• Structured, independent working style and reliability in experimental work
• Ability to work in a team
• Very good German and/or English skills in spoken and written form (at least B level)

The thesis can start immediately. Please send your application including current grade transcript, relevant certificates, proof of language level (exception: native speakers DE/EN), and curriculum vitae by e-mail.

Kategorien:

Kontakt: