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Lazy Control of an Anthropomorphic Robotic Arm

Avelar, J. and Molengraft, M.J.G. van de and Bruyninckx, H.P.J. (2019) Lazy Control of an Anthropomorphic Robotic Arm.

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Abstract:The classic control approach used for industrial robot manipulators implicitly assumes a known, controlled, and predictable environment. However, these assumptions cannot be guaranteed for robots operating in uncertain and dynamic environments. The development of service robots, for in- stance, requires control implementations that allows them to robustly execute tasks under these conditions. In this paper, we introduce an approach for designing a lazy control strategy that provides robustness towards specific changes and uncertainties in dynamic environments which are not considered in the classic control approach. The methodology is applied for a 7-DOF anthropomorphic robotic arm to perform the task of opening a drawer. It exploits knowledge of the task context to design a lazy control strategy and controller that does only as much as it necessary to achieve the task.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/77738
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