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Safe use of robotic arms as input devices

Lazar, A.I. (2019) Safe use of robotic arms as input devices.

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Abstract:The independent research centre i-Botics, founded by TNO and University of Twente, currently uses the omega.7 haptic device as a master for the telemanipulation of the KUKA LWR 4+ robotic arm as a slave device for tasks that need to be performed in a dangerous or hostile environment for human operators. To improve this state of the art, the Emika Franka Panda robotic arm is, herein, proposed as replacement for the omega.7 device. Since human operators are to physically interact with the Panda robotic arm, strict safety measures prompt for proper energy, force and power limitations to be carefully set. The novel master device needs to also fulfil the requirements of a haptic input device. Herein, a control methodology was developed and implemented such that the necessary safety and haptic prerequisites are met. The system successfully passed the four evaluation tests that addressed its haptic performance and safety. Although the slave device was used as a Gazebo simulation of the KUKA LWR 4+ robotic arm, the design is also valid and recommended for the real hardware.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/77908
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