Dissertação de mestrado em Engenharia Mecânica ; The objective of the dissertation is to flexibly control the end effector velocity of a redundant 7-DOF manipulator by using a differential kinematics approach, while ensuring the safety of the robotic arm from exceeding the physical limits of joints in terms of position, velocity and acceleration. The thesis also contributes with a real-time obstacle avoidance strategy for controlling anthropomorphic robotic arms in dynamic obstacle environments, taking account of sudden appearances or disappearances of mobile obstacles. A method for compensating force errors due to changes in the orientation of end effectors, independent from structures of force sensors, is developed to achieve high accuracy in force control applications. A novel method, the Virtual Elastic System, is proposed to control mobile manipulators for physical Human-Robot Interaction (pHRI) tasks in dynamic environments, which enables the combination of an Inverse Differential Kinematics for redundant robotic arms and a Dynamical Systems approach for nonholonomic mobile platforms. Experiments with a 7-DOF robotic arm, side-mounted on a nonholonomic mobile platform, are presented with the whole robot obstacle avoidance, proving the efficiency of the developed method in pHRI scenarios, more specifically, cooperative human-robot object transportation tasks in dynamic environments. Extensions of the method for other mobile manipulators with holonomic mobile platforms or higher degrees of freedom manipulators are also demonstrated through simulations.
Control of an anthropomorphic manipulator involved in physical human-robot interaction
01.01.2012
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
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