University of Twente Student Theses


Integrating Energy Awareness into Sequence Control

Hobert, E.C. (2020) Integrating Energy Awareness into Sequence Control.

[img] PDF
Abstract:Robotic systems require controllers that are capable of handling the complex dynamics of a robot’s physical interactions with its environment. Because physical interactions are almost exclusively characterised by energy exchange, RaM is working on fully enabling energy awareness in control systems to improve the assessment of physical interactions. The next step towards this objective is taken with the work presented in this thesis on integrating energy awareness into sequence control. An architectural design and conceptual implementation of the sequence-control layer are presented. The energy-aware sequence control layer consists of 3 components and 2 interfaces: a setpoint generator, energy estimator and passivity layer, and a control interface and energy interface. The system is implemented in simulation and experiments are conducted in which the robot collides with a virtual wall. The results show that energy awareness is successfully integrated in the sequence-control layer and enables collision detection and reaction within 30 ms. In this project, an architectural basis for energy awareness at the sequence-control layer has been formed on a road towards more autonomous and safer robotic systems. Future work should focus on expanding energy assessment to cover a broader range of physical interactions.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 53 electrotechnology, 54 computer science
Programme:Electrical Engineering MSc (60353)
Link to this item:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page