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Integration of a passivity layer with a dynamics compensator on a teleoperated KUKA robot arm

Walt, C. van der (2018) Integration of a passivity layer with a dynamics compensator on a teleoperated KUKA robot arm.

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Abstract:This thesis focuses on inertia compensation for tele-operated Serial-Chain Manipulators with haptic feedback. It also deals with how a passivity layer needs to be integrated into such a set-up. The idea behind compensating for inertia, here, is to reduce the inertia-effects felt by an operator, as these "fight" any accelerations he or she imparts onto the operator, reducing the operator’s ability to carry out dexterity-intensive tasks. The concept of model inversion was used to design an inertia-compensating controller for such systems. The resulting controller performs as it should, allowing a manipulator to exhibit dynamics of a similar system with arbitrarily reduced mass. When this control scheme was applied to a haptic tele-operation set-up, the force fed back to the operator was indeed reduced, on average. Also, it was theorised from the results that a passivity layer that works on a similar, uncompensated manipulator can be integrated into the compensated set-up with relatively little changes to its tuning parameters. However, the results also seem to show that compensating for friction instead of inertia may be more of use if used to operate a KUKA LWR4+, for example.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/80963
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