Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016. ; Cataloged from PDF version of thesis. ; Includes bibliographical references (pages 99-102). ; This thesis explores the use of impedance control on an anthropomorphic robot for operations in extreme, poorly mapped environments. First, a dynamic model was developed for a Baxter Research Robot. This model improved on standard dynamic models for similar robots by including the dynamics of the actuators in the system. Specifically, it was demonstrated that when the effective inertia of the actuators is neglected, the system will transmit 1.6 times more force to the environment than the model predicts. A force based Cartesian impedance controller was then implemented on Baxter, and numerous ways to modulate the endpoint impedance, including feedback and geometric configuration, were discussed and compared. Finally, a series of scaled down tasks similar to ones which are required in the decommissioning of offshore oil fields were then completed on Baxter using the Cartesian impedance controller. Overall, it was demonstrated that by using this more advanced control scheme, Baxter was (1) capable of satisfactorily completing the scaled down tasks, (2) more robust against errors in the map of the environment than with traditional controllers, and (3) capable of improving the map of its environment while completing the task. ; by Lucille Aileen Hosford. ; S.M.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Development and testing of an impedance controller on an anthropomorphic robot for extreme environment operations



    Erscheinungsdatum :

    2016-01-01


    Anmerkungen:

    988750748


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    629




    Development of anthropomorphic flutist robot

    Takanishi, A. | British Library Online Contents | 1996


    Anthropomorphic Flute Playing Robot

    Takanishi, A. | British Library Online Contents | 1998


    Anthropomorphic Robot Arm ; Antropomorf Robotarm

    WALLÉN KIESSLING, ALEXANDER / MÄÄTTÄ, NICLAS | BASE | 2020

    Freier Zugriff

    Anthropomorphic Robot Hand And Teaching Glove

    Engler, Charles D., Jr. | NTRS | 1991


    Autonomous Locomotion and Navigation of Anthropomorphic Robot

    Titov, Alexey / Markov, Alexey / Skorikov, Andrey et al. | Springer Verlag | 2017