On Robotic Assembly and Optimization-Based Control of Industrial Manipulators
Doctoral thesis
Permanent lenke
http://hdl.handle.net/11250/2606552Utgivelsesdato
2019Metadata
Vis full innførselSamlinger
Sammendrag
Robotic manipulators are essential tools of industry. They are ubiquituous in modern factories, and they are starting to become more commonplace everywhere else. The trend in robotic manipulators is to move towards allowing for more human-robot collaboration, to allow for sensor-based tasks, and to perform classical industrial tasks such as assembly in new and unforeseen environments. These trends enable small and medium businesses to lower the cost of automation by simplifying robot programming.
The core interest of this thesis is an idealized automatic assembly system, capable of generating and executing robot programs based on CAD models. Such a system is challenging to realize, as it is composed of many subcomponents that are large research topics in and of themselves. From the control-theoretic perspective, much of the work lies in task specification and relating assembly of the parts to robot motions, as is the core discussion in one of the papers.
The papers present control strategies intended for on-line control of an industrial manipulator. As optimization techniques may have slow execution time, the timings of the different control strategies are a recurring topic in the papers. The communication and tracking latency of a KUKA robot system is also investigated when developing an open-source control interface to the KUKA system.
This thesis presents contributions in robotic assembly and optimization based control of industrial manipulators. The papers in this thesis aim to address some shortcomings in the robotics literature that were found when investigating the idealized system. The accompanying text gives a brief introduction to the history of robotics, as well as an overview of some of the robotics literature.
Består av
Paper 1: Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. On the Globally Exponentially Convergent Immersion and Invariance Speed Observer for Mechanical Systems. American Control Conference. - 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works https://doi.org/10.23919/ACC.2017.7963455Paper 2: Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. On Model Predictive Path Following and Trajectory Tracking for Industrial Robots. 13th IEEE Conference on Automation Science and Engineering. - 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works https://doi.org/ 10.1109/COASE.2017.8256087
Paper 3: Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy. Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators. 2017 IEEE Conference on Control Technology and Applications (CCTA) - 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works https://doi.org/10.1109/CCTA.2017.8062503
Paper 4: Arbo, Mathias Hauan; Pane, Yudha P.; Aertbeliën, Erwin; Decré, Wilm. A System Architecture for Constraint-Based Robotic Assembly with CAD Information. IEEE International Conference on Automation Science and Engineering 2018 - 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works https://doi.org/10.1109/COASE.2018.8560450
Paper 5: Arbo, Mathias Hauan; Gravdahl, Jan Tommy. Stability of the Tracking Problem with Task-Priority Inverse Kinematics. IFAC-PapersOnLine 2018 ;Volum 51.(222) s. 121-125 https://doi.org/10.1016/j.ifacol.2018.11.528
Paper 6: M. H. Arbo,; I. Eriksen, F. Sanfilippo,; J. T. Gravdahl. Interfacing KUKA Industrial Robots with ROS for Research and Education
Paper 7: M. H. Arbo; E. I. Grøtli; J. T. Gravdahl. CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics - © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.