Collision avoidance for collaborative robotics

Detalhes bibliográficos
Autor(a) principal: Safeea, Mohammad
Data de Publicação: 2016
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/38821
Resumo: Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra
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spelling Collision avoidance for collaborative roboticsCollision avoidancecollaborative robotssafetyJoint space inertia matrixCoriolis matrixCentrifugal matrixtime derivative of joint space inertia matrixDissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de CoimbraIn this thesis we visit the problem of real-time collision avoidance for robotic manipulators in unstructured and dynamic environments. The main objective will be to implement a human-robot collision avoidance algorithm for a robotic cell that utilizes an industrial robotic manipulator where the human coworker and the robot share the same working area. For this purpose the pioneering work of Khatib in the arti cial potential eld method was taken as the basis to our work. Thus, an implementation of two di erent collision avoidance controllers is addressed. The rst of which is based on kinematics, while the other is based on force control that take into consideration robot's dynamics. For developing the force controller, and for achieving real time performance of the virtual-reality simulations, we had to implement a light weight numerical method for computing robot's dynamics. Several e cient algorithms for calculating robot dynamics were deduced. Results indicate that the proposed methods compare favourably with state-of-the-art methods. Throughout this work MATLAB® was opted as the tool for implementing the algorithms, while the real-time virtual-reality simulations were carried out using the Virtual Experimentation Platform (V-REP). Using these tools several controllers, algorithms, techniques and simulations were applied and the results achieved were discussed. We conclude this study by identifying some of the issues associated with the arti cial potential eld method2016-02-22info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesishttp://hdl.handle.net/10316/38821http://hdl.handle.net/10316/38821TID:201664402engSafeea, Mohammadinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2022-04-01T20:44:39Zoai:estudogeral.uc.pt:10316/38821Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:59:02.840475Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Collision avoidance for collaborative robotics
title Collision avoidance for collaborative robotics
spellingShingle Collision avoidance for collaborative robotics
Safeea, Mohammad
Collision avoidance
collaborative robots
safety
Joint space inertia matrix
Coriolis matrix
Centrifugal matrix
time derivative of joint space inertia matrix
title_short Collision avoidance for collaborative robotics
title_full Collision avoidance for collaborative robotics
title_fullStr Collision avoidance for collaborative robotics
title_full_unstemmed Collision avoidance for collaborative robotics
title_sort Collision avoidance for collaborative robotics
author Safeea, Mohammad
author_facet Safeea, Mohammad
author_role author
dc.contributor.author.fl_str_mv Safeea, Mohammad
dc.subject.por.fl_str_mv Collision avoidance
collaborative robots
safety
Joint space inertia matrix
Coriolis matrix
Centrifugal matrix
time derivative of joint space inertia matrix
topic Collision avoidance
collaborative robots
safety
Joint space inertia matrix
Coriolis matrix
Centrifugal matrix
time derivative of joint space inertia matrix
description Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra
publishDate 2016
dc.date.none.fl_str_mv 2016-02-22
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/38821
http://hdl.handle.net/10316/38821
TID:201664402
url http://hdl.handle.net/10316/38821
identifier_str_mv TID:201664402
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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