Abstract: A method is described for collision-free motion planning of a first manipulator with closed kinematics. The method includes defining a dynamic optimization problem, solving the optimization problem using a numerical approach, and determining a first movement path for the first manipulator based on the solution of the optimization problem. The dynamic optimization problem includes a cost function that weights states and control variables of the first manipulator, a dynamic that defines states and control variables of the first manipulator as a function of time, and at least one inequality constraint for a distance to collisions. Furthermore, the optimization problem includes at least one equality constraint for the closed kinematics.

Abstract: A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Abstract: A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

Abstract: A method and an apparatus for controlling a robot during an interaction with its environment includes solving an optimization problem for calculating an optimal control variable as an input for a robot controller. The optimization problem is based on interaction dynamics and robot dynamics.

Abstract: A method is described for collision-free motion planning of a first manipulator with closed kinematics. The method includes defining a dynamic optimization problem, solving the optimization problem using a numerical approach, and determining a first movement path for the first manipulator based on the solution of the optimization problem. The dynamic optimization problem includes a cost function that weights states and control variables of the first manipulator, a dynamic that defines states and control variables of the first manipulator as a function of time, and at least one inequality constraint for a distance to collisions. Furthermore, the optimization problem includes at least one equality constraint for the closed kinematics.

Abstract: A method for estimating a torque acting on a joint of a robot. The method comprises performing an identification routine for determining a position-dependent error rotation angle of a rotational deformation of a transmission. Subsequently, a rotation angle of a rotational deformation of the transmission is measured at a joint position and the measured rotation angle is corrected by means of the identified error rotation angle.

Abstract: A method for collision-free motion planning of a first manipulator of a robotic control apparatus from a starting point to a destination point. The method includes repeatedly determining a target path of the first manipulator to the destination point with a global planner, continuously determining a movement of the first manipulator with a local planner based on a current target path of the global planner, and performing the movement by the first manipulator in parallel with the determination by the global planner and the local planner.

Abstract: A method and corresponding apparatus for collision-free motion planning of a first manipulator in a first working space and a second manipulator in a second working space, wherein the first and second working spaces at least partially overlap. The method includes the steps of importing a first dynamic roadmap for a first configuration space of the first manipulator, wherein the first dynamic roadmap includes a first search graph and a first mapping between the first working space and the first search graph, and importing a second dynamic roadmap for a second configuration space of the second manipulator, wherein the second dynamic roadmap includes a second search graph and a second mapping between the second working space and the second search graph. Furthermore, the motion of the first manipulator and the second manipulator are coordinated based on the first dynamic roadmap and the second dynamic roadmap.

Abstract: A method for supplying and inserting document sets into associated envelopes, in which the document sets are supplied to an insert station in a document material stream and the envelopes are supplied to the insert station in an envelope material stream, to allow mail pieces to be collated with high reliability. In the insert station, the document set supplied in each case is inserted into the relevant envelope supplied at the same time, wherein for each document set, the position thereof in the document sequence and an associated document identification code are determined, and for each envelope, the position thereof in the envelope sequence and an associated envelope identification code are determined, and a document set and an envelope are supplied to the insert station only as a pair when it is confirmed that the envelope pending supply is individually associated with the document set pending supply.

Abstract: A method for supplying document sets (4) and inserting document sets into associated envelopes (2), in which the document sets (4) are supplied to an insert station (10) in a document material stream formed by a sequence of document sets (4) and the envelopes (2) are supplied to the insert station in an envelope material stream formed by a sequence of envelopes (2), said method being intended to allow the mail pieces consisting of the document sets (4) and the envelopes (2) to be collated with particularly high reliability and precision in a particularly simple manner.