Einar Nielsen | OST Eastern Switzerland University of Applied Sciences (original) (raw)
Einar Nielsen has over 20 years’ experience in robot development. He realized sensor-guided robotic systems for industry, surgery, rehabilitation, container handling, research, haptic feedback displays or high precision and high speed robotic applications. In the more than 30 robot projects a big experience in the realization of mechanical and electrical hardware as well as in the development of robot control software has been obtained for that serve as the basis for further developments.
Einar Nielsen's research interests lie in the development and control of sensor guided robotic systems, which finds their practical used in industry, medicine, logistics or service. His main focus is on an application driven development process and philosophy, where the dynamic behavior of the robot is defined by an optimized choice of mechanical design and control strategy. The goal is to push the performance high up, while the complexity of the overall system is reduced.
Phone: +41 78 738 90 41
Address: Eisgasse 17
8004 Zurich
Switzerland
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Papers by Einar Nielsen
In this paper, we present an iterative development process for a functional model of an autonomou... more In this paper, we present an iterative development process for a functional model of an autonomous, location-orienting rollator. An interdisciplinary team was involved in the development, working closely with the end-users. This example shows that the design thinking method is suitable for the development of frontier technology devices in the care sector.
ArXiv, 2021
In this paper, we present an iterative development process for a functional model of an autonomou... more In this paper, we present an iterative development process for a functional model of an autonomous, locationorienting rollator. An interdisciplinary team was involved in the development, working closely with the end-users. This example shows that the design thinking method is suitable for the development of frontier technology devices in the care sector.
The goal of this work is the development of control concepts for a high precision robot joint. Th... more The goal of this work is the development of control concepts for a high precision robot joint. These proposed concepts are used to overcome the negative effects of the gear transmission. Thereby, the lowest achievable dynamic positioning error for the given setup is identified. For this purpose, a mechanical setup was used, in which the torque is generated by a permanent magnet synchron machine (PMSM) and transferred to the load through a Harmonic Drive gear. Two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side.
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.
In this paper, we present an iterative development process for a functional model of an autonomou... more In this paper, we present an iterative development process for a functional model of an autonomous, location-orienting rollator. An interdisciplinary team was involved in the development, working closely with the end-users. This example shows that the design thinking method is suitable for the development of frontier technology devices in the care sector.
ArXiv, 2021
In this paper, we present an iterative development process for a functional model of an autonomou... more In this paper, we present an iterative development process for a functional model of an autonomous, locationorienting rollator. An interdisciplinary team was involved in the development, working closely with the end-users. This example shows that the design thinking method is suitable for the development of frontier technology devices in the care sector.
The goal of this work is the development of control concepts for a high precision robot joint. Th... more The goal of this work is the development of control concepts for a high precision robot joint. These proposed concepts are used to overcome the negative effects of the gear transmission. Thereby, the lowest achievable dynamic positioning error for the given setup is identified. For this purpose, a mechanical setup was used, in which the torque is generated by a permanent magnet synchron machine (PMSM) and transferred to the load through a Harmonic Drive gear. Two angular encoders on each side of the Harmonic Drive gear are supplemented by a Ferraris acceleration sensor on the load side.
Within this work a detailed model of the system, including the relevant non-linearities, is derived using Matlab/Simulink. The simulation results are verified using the described hardware and the model is refined in several iterations. This allows to gain a better understanding of the existing effects and therefore to develop appropriate concepts to increase the dynamic positioning precision. Finally, the control algorithms were implemented on the servo drive as a C# real time application. Beside a conventional cascade controller structure, a so called active damping for the suppression of resonant oscillations, as well as a compensation of the gear transmission error have been implemented. By this means a maximum load position error of 150 μrad could be achieved.