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.


    Access

    Download


    Export, share and cite



    Title :

    Control of an anthropomorphic manipulator involved in physical human-robot interaction


    Contributors:

    Publication date :

    2012-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Anthropomorphic Remote Manipulator

    Jau, Bruno M. | NTRS | 1991


    Development of an anthropomorphic mobile manipulator with human, machine and environment interaction

    Gonçalves, Fernando / Ribeiro, Tiago / Garcia, Inês et al. | BASE | 2019

    Free access

    Human-robot interaction. Face stereotypes in anthropomorphic robotic systems

    Niccolò Colafemmina / Paride Duello / Fabrizio Formati | BASE | 2022

    Free access

    ANTHROPOMORPHIC MANIPULATOR FOR USE ON UNMANNED AERIAL VEHICLE

    AL AKKAD MKHD AJMAN / IBRAKHIM IBRAKHIM NIZAR / ALMAGUT KARAM | European Patent Office | 2020

    Free access

    Anthropomorphic Flute Playing Robot

    Takanishi, A. | British Library Online Contents | 1998