University of Twente Student Theses
Energy based safety for passive robots performing active interaction tasks
Dijk, Daniël van (2022) Energy based safety for passive robots performing active interaction tasks.
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| Abstract: | Automatisation is spreading rapidly in all kind of sectors, giving rise to new problems that need solutions. One of those problems is the safe usage of manipulator robots in environments where a human and robot share their workspace. In this thesis, a novel safety-aware control architecture is proposed. This is done by utilising a novel dynamic energy injection protocol using energy tanks, accompanied by compliance based control in case of collisions. Collision experiments on a 7-DoF manipulator show the validity of the proposed control architecture. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 53 electrotechnology |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/89363 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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