Analysing the Performance Change of the Robots based on the Boundary Condition Change

Institute

Munich Institute of Robotics and Machine Intelligence

Type

Semester Thesis / Master's Thesis /

Content

experimental / theoretical /  

Description

Background: In real-world applications, robots frequently interact with uncertain environments, whether through physical contact at the end-effector (EE) or via external disturbances transmitted from the ground or flexible base. These interactions introduce dynamic forces that can significantly affect performance metrics such as precision, stability, and energy efficiency. Despite their importance, the effects of such disturbances are often neglected or simplified in existing models and evaluations. This project aims to systematically investigate how end-effector forces and base-level perturbations influence robot performance, including tactile response, control stability, and power consumption. Through experimental studies using force-torque sensors and flexible base setups, the goal is to derive performance maps and validate metric robustness under external influences.

Objectives:

• Benchmark testing

• Modelling

Possible Work Packages:

• Experiment Design

• Analytical Model Generation

• Benchmark Tests

• Data analysis and model fitting

Requirements

Prerequisites:

• Educational Background: Mechanical or Mechatronics Engineering (with programming and control background), Control Engineering (with mechanical system modelling background), Informatics (with sufficient physics and dynamics background)

• Skills:

  • Good understanding of robot dynamics and kinematics

  • Intermediate knowledge of control systems, especially in the context of stability and response under disturbance

  • Familiarity with tactile sensing and force-torque data analysis

  • Advanced-level dynamics and mathematics 

  • Experience with data acquisition systems (DAQs)

  • Intermediate-level signal processing skills, especially for vibration and acceleration data

  • Ability to design and run experimental protocols, including repeated tests under varying conditions

  • Basic understanding of energy efficiency concepts in robotic systems

  • Hands-on experience with robotic platforms (e.g., Franka, or similar) is a plus

  • Good programming/scripting skills, preferably in Python or MATLAB, for data analysis and automation

• Mindset: A hands-on, “maker” attitude toward experimental and iterative problem-solving.

• GPA Requirement: Minimum GPA of 2.3

• Language Requirement: C1 English

• Expected Graduation: After May 2026

 

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]  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.

Tags

Benchmarking, external disturbances, modelling

Possible start

sofort

Contact

Mehmet Can Yildirim, M.Sc.
mehmet.yildirimtum.de