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Development of a safety-aware intrinsically passive controller for a multi-DOF manipulator

Cardenas, Carlos A. (2017) Development of a safety-aware intrinsically passive controller for a multi-DOF manipulator.

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Abstract:In contexts where robots share their workspace with humans, safety is of supreme importance. Consequently, in recent years, a big impulse has been given to the design of human friendly robots by involving both mechanical and control design aspects. When it comes to controller design, this often involves introducing compliance and ensuring asymptotic stability using an interaction control scheme and passivity theory. Moreover, when human operators physically interact with the robot during work, strict safety measures become necessary with some of these including power and force limitations. In this thesis, a novel impedance control technique for collaborative robots is presented. The featured controller allows safe human-robot interaction by defining energy and power based safety metrics. An energy tank system is incorporated to this controller, in order to assure passivity of the overall system. The effectiveness of the proposed controller is evaluated with a KUKA robot arm in a co-manipulation environment.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 53 electrotechnology
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/73878
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