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Commande d'un robot collaboratif redondant en interaction avec des humains dans un contexte de manipulation et d'assemblage
| Content Provider | Semantic Scholar |
|---|---|
| Author | Labrecque, Pascal D. |
| Copyright Year | 2017 |
| Abstract | This thesis presents two novel control architectures for physical human-robot interactions (pHRIs) which are speci cally designed for the assembly industry. Indeed, two types of pHRI manipulators, each adapted to di erent industrial constraints and with di erent physical interaction interfaces, are studied each with their own control architecture. The rst pHRI manipulator designed is fully actuated and allows pHRIs in its free space, i.e., unilateral interactions, as well as pHRIs when its motion is constrained by the environment, i.e., bilateral interactions. The human force input can be applied on any of the manipulator's links because of the torque sensors in the robot joints. However, if a human force ampli cation is desired on the environment, then it is required to use the additional force sensor appended to the robot. Using this approach, combined with the signal of the force sensor at the ende ector, it is then possible to use the ratio between the human and environment forces in order to generate the desired ampli cation. This control law is based on the concept of variable admittance control which has already demonstrated its great bene ts for unilateral interactions. Here, this concept is extended to bilateral interactions in order to obtain a single control algorithm for both states. A continuous transition can thus be implemented between both interaction modes which require di erent parameter values in order to achieve their optimal performance. The work ow and results to achieve this rst control architecture are presented in three steps. Firstly, the control law is implemented on a single-degree-of-freedom (dof) prototype in order to test the ampli cation and transition potential, as well as the stability of the interaction. Secondly, a control optimisation algorithm is developed for bilateral interactions with a multidof robot. This algorithm assesses the system's robust stability using the structured singular value approach (μ-analysis), to afterwards, optimize the stable controllers in relation to a manipulator's con guration-dependent variable. This approach leads to a variable control law yielding a robustly stable system that can reach optimal performances for any robot con guration. In fact, the admittance regulator parameters follow a gain scheduling paradigm for bilateral interactions. The stability and performance of the system are assessed using impact tests on di erent environments. Finally, the optimal variable admittance control law is implemented and validated on a multi-dof robot (Kuka LWR 4) using di erent trajectory |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://robot.gmc.ulaval.ca/fileadmin/documents/Theses/pascal_labrecque.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
