Control of an anthropomorphic manipulator involved in physical human-robot interaction

Detalhes bibliográficos
Autor(a) principal: Vu, Hung Mai
Data de Publicação: 2012
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/19955
Resumo: Dissertação de mestrado em Engenharia Mecânica
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spelling Control of an anthropomorphic manipulator involved in physical human-robot interactionRedundant manipulatorReal-time obstacles avoidanceAnthropomorphic mobile manipulatorPhysical human-robot interactionCooperative object transportation681.5007.52Dissertação de mestrado em Engenharia MecânicaThe 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.Bicho, E.Universidade do MinhoVu, Hung Mai20122012-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfapplication/octet-streamhttp://hdl.handle.net/1822/19955enginfo: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:RCAAP2023-07-21T12:54:21Zoai:repositorium.sdum.uminho.pt:1822/19955Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T19:53:52.814774Repositório 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 Control of an anthropomorphic manipulator involved in physical human-robot interaction
title Control of an anthropomorphic manipulator involved in physical human-robot interaction
spellingShingle Control of an anthropomorphic manipulator involved in physical human-robot interaction
Vu, Hung Mai
Redundant manipulator
Real-time obstacles avoidance
Anthropomorphic mobile manipulator
Physical human-robot interaction
Cooperative object transportation
681.5
007.52
title_short Control of an anthropomorphic manipulator involved in physical human-robot interaction
title_full Control of an anthropomorphic manipulator involved in physical human-robot interaction
title_fullStr Control of an anthropomorphic manipulator involved in physical human-robot interaction
title_full_unstemmed Control of an anthropomorphic manipulator involved in physical human-robot interaction
title_sort Control of an anthropomorphic manipulator involved in physical human-robot interaction
author Vu, Hung Mai
author_facet Vu, Hung Mai
author_role author
dc.contributor.none.fl_str_mv Bicho, E.
Universidade do Minho
dc.contributor.author.fl_str_mv Vu, Hung Mai
dc.subject.por.fl_str_mv Redundant manipulator
Real-time obstacles avoidance
Anthropomorphic mobile manipulator
Physical human-robot interaction
Cooperative object transportation
681.5
007.52
topic Redundant manipulator
Real-time obstacles avoidance
Anthropomorphic mobile manipulator
Physical human-robot interaction
Cooperative object transportation
681.5
007.52
description Dissertação de mestrado em Engenharia Mecânica
publishDate 2012
dc.date.none.fl_str_mv 2012
2012-01-01T00:00:00Z
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/1822/19955
url http://hdl.handle.net/1822/19955
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.format.none.fl_str_mv application/pdf
application/octet-stream
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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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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