Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/19955
Título: | Control of an anthropomorphic manipulator involved in physical human-robot interaction |
Autor(es): | Vu, Hung Mai |
Orientador(es): | Bicho, E. |
Palavras-chave: | Redundant manipulator Real-time obstacles avoidance Anthropomorphic mobile manipulator Physical human-robot interaction Cooperative object transportation |
Data: | 2012 |
Resumo(s): | The objective of the dissertation is to flexibly control the end effector velocity of a redundant 7-DOF manipulator by using a differential kinematics approach, while ensuring the safety of the robotic arm from exceeding the physical limits of joints in terms of position, velocity and acceleration. The thesis also contributes with a real-time obstacle avoidance strategy for controlling anthropomorphic robotic arms in dynamic obstacle environments, taking account of sudden appearances or disappearances of mobile obstacles. A method for compensating force errors due to changes in the orientation of end effectors, independent from structures of force sensors, is developed to achieve high accuracy in force control applications. A novel method, the Virtual Elastic System, is proposed to control mobile manipulators for physical Human-Robot Interaction (pHRI) tasks in dynamic environments, which enables the combination of an Inverse Differential Kinematics for redundant robotic arms and a Dynamical Systems approach for nonholonomic mobile platforms. Experiments with a 7-DOF robotic arm, side-mounted on a nonholonomic mobile platform, are presented with the whole robot obstacle avoidance, proving the efficiency of the developed method in pHRI scenarios, more specifically, cooperative human-robot object transportation tasks in dynamic environments. Extensions of the method for other mobile manipulators with holonomic mobile platforms or higher degrees of freedom manipulators are also demonstrated through simulations. |
Tipo: | Dissertação de mestrado |
Descrição: | Dissertação de mestrado em Engenharia Mecânica |
URI: | https://hdl.handle.net/1822/19955 |
Acesso: | Acesso aberto |
Aparece nas coleções: | BUM - Dissertações de Mestrado DEM - Dissertações de Mestrado / MSc Thesis |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Thesis_Hung Mai Vu_2012.pdf | 7,48 MB | Adobe PDF | Ver/Abrir | |
Videos.zip | 85,9 MB | Unknown | Ver/Abrir |