SDPräFlexBot

In the PräFlexBot project, my main contribution was on trajectory planning and system-level integration. What makes the setup special is the cooperation between two robots: one robot presents and repositions the part, while the other robot performs the actual manufacturing task in the pose where it can achieve the highest possible precision.

The project combines flexible robot kinematics with high-precision optical sensing and adaptive planning methods in order to improve manufacturing accuracy. My work focused on the planning side of this problem: developing and shaping the trajectory and configuration concepts that allow the two robots to cooperate effectively and place the working robot in accuracy-optimal configurations along the process path. The real-time control based on measurement feedback was carried out by our collaborators in Stuttgart, while my role centered on the planning logic and the overall system perspective required to make the setup effective.