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Optimal Controller For A Redundant Manipulator Under Impacts

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Optimal Controller For A Redundant Manipulator Under Impacts.

Rel. Luca Carbonari, Arash Ajoudani, Giovanni Gerardo Muscolo. Politecnico di Torino, Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica), 2021

Abstract:

The goal of this work is to support workers doing repetitive tasks with Franka Emika Panda robot manipulator. The use case is about hitting rotors on the work table until the residues of material are eliminated (requested from a mechanical industry). This kind of effort stresses human articulations and it can lead to muscoloskeletal problems for workers in long periods. So a solution about cooperation between employees and robots is developed through a cartesian impedance controller that allows to the arm to control the impact requested from the user. Quadratic programming has been applied to optimize the configuration of the robot redistributing the efforts, due to the impacts, along the joints.

Relators: Luca Carbonari, Arash Ajoudani, Giovanni Gerardo Muscolo
Academic year: 2020/21
Publication type: Electronic
Number of Pages: 74
Additional Information: Tesi secretata. Fulltext non presente
Subjects:
Corso di laurea: Corso di laurea magistrale in Mechatronic Engineering (Ingegneria Meccatronica)
Classe di laurea: New organization > Master science > LM-25 - AUTOMATION ENGINEERING
Aziende collaboratrici: ISTITUTO ITALIANO DI TECNOLOGIA
URI: http://webthesis.biblio.polito.it/id/eprint/17831
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