BSc Thesis, MSc Thesis, Forschungspraxis Oppurtunity at Chair of Robotics and Systems Intelligence

22.04.2025, Studentische Hilfskräfte, Praktikantenstellen, Studienarbeiten

Background: Modern robotic manipulators are increasingly tasked with executing dynamic, high-speed, and precise operations. While joint-level control is often the primary focus, the distribution of inertia and elasticity across the manipulator structure is critical in shaping its dynamic behaviour. Inspired by natural systems such as the motion of a whip, where energy is transferred efficiently along a tapering structure, this project investigates how varying stiffness and inertia can improve energy flow, acceleration profiles, and overall task performance. The aim is to challenge conventional assumptions of uniform stiffness and rigid links by exploring how passive structural properties can enhance or degrade system dynamics in different use cases.

Objectives:
Find the correct metrics to analyse dynamic performance.
Benchmark the dynamic performance of the cobots.
Optimize the structural parameters to improve the dynamic performance
Possible Work Packages:
Literature review
Study elastic manipulator models and control
Study optimal control
Multi-Dof simulation development
Benchmark Tests

Prerequisites:
Educational Background: Mechanical or Mechatronics Engineering (with programming and control background), Control Engineering (with mechanical system modelling background)
Skills:
Strong understanding of robot dynamics, especially multi-DoF systems
Good knowledge of structural elasticity and inertia modelling
Experience with simulation tools (e.g., MATLAB/Simulink, or equivalent)
Control systems knowledge, particularly parameter tuning and system behaviour analysis
Basic familiarity with system identification methods
Ability to perform a literature review and critically assess metrics used in robotics
Analytical skills to derive relationships between design parameters and dynamic performance
Basic CAD skills for modelling conceptual test setups (if needed for validation)
Good documentation and reporting skills, as this work involves defining new metrics and interpreting results in the context of system design
Mindset: An investigative mindset to understand the root causes of the problem.
GPA Requirement: Minimum GPA of 2.3
Language Requirement: C1 English
Expected Graduation: After December 2025

What do I offer?
A very challenging and scientifically satisfactory work.
Upon successful results, co-authorship in my publications.
Unlimited cold beverages.
Quarterly group dinners, during summer days, and barbecues.
Know-how about hardware development, design, machine tools, modelling, DAQs, sensors, experiment design, robotics, academic writing and presentation.

Application Process:

Please follow this link https://www.mehmetcanyildirim.com/for-students/supervision to reach the application form. It is essential for you to take the time to fill out the form in detail. Also, with this link, you will be able to check my other offerings as well; feel free to apply for more than one, but please make sure that you mention all these in your motivation letter. If you have further questions, please send me an email with the subject "MSc/BSc Thesis/Forschungspraxis/Internship/Semesterarbeit - Opening Title - Email Topic"

If you have a friend or a group of friends you enjoy working with, I encourage you to apply together. A group application will be a great opportunity if you have different backgrounds, like mechanical hardware and programming.

You can merge projects like Forschungspraxis+MSc Thesis.

Upon submission of your application, it will undergo a review process. If you are found to be a good fit for the topic, you will receive an invitation for an interview. We kindly ask that you refrain from sending follow-up emails to inquire about your application status until one week after the deadline for this call. You will receive an email notification if your application is unsuccessful, and all submitted information and documentation will be discarded.

Please note that part of the interview will include an oral evaluation of your background and comprehension of concepts pertinent to the thesis. Demonstrating thorough preparation, creativity, and initiative will be beneficial. Before the interview, you will be assigned a brief task (such as modelling, simulation, or a paper study), and additional questions will be related to this task during the interview.

Applications and theses must be submitted in English. Giving a final presentation and reporting for the non-thesis openings is also mandatory.

Kontakt: mehmet.yildirim@tum.de

Mehr Information

https://www.mehmetcanyildirim.com/for-students/supervision