University of Twente Student Theses


Design of a Reusable Teleoperation Control Architecture Applied to the youBot

Rinsma, S.G. (2014) Design of a Reusable Teleoperation Control Architecture Applied to the youBot.

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Abstract:Traditionally, developing a new robotic application means designing a new system completely from scratch, since no standardized or generic components are available. This is a costly and time consuming task and one way to speed up this process would be by reusing certain commonly used modules. Unfortunately, a modular robot design is not as intuitive as it may seem, since even small changes in for example the kinematic chain can cause for large design adjustments. Several initiatives have emerged that aim at serving as a platform for robot designers. The prime objective of the BRICS project is to structure and formalize the robot development process itself and to provide tools, models, and functional libraries, which help accelerate this process significantly. During this project, which is a cooperation with the BRICS project, the main goal is to develop a modular design for robot controllers. An important aspect is that all controller blocks are designed in such a way that they can be added or removed from the robot control chain without affecting overall stability. This includes designing a generalized interface strategy that applies to all elements in the controller chain. Firstly, an appropriate input/output strategy will be developed and applied to several control blocks including; Cartesian control, end-effector positioning and trajectory planning. These blocks are designed in 20sim using bond graphs, and in order to verify functionality the controllers will be implemented onto two setups; the KUKA youBot and LWR. The youBot is a mobile manipulator that consists of a mobile platform on which a six-DOF robot arm is mounted. The LWR (Lightweight Robot) is a seven-DOF robot arm fixed to a base plate with several optional manipulators.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering, 53 electrotechnology
Programme:Mechatronics MSc (60027)
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