Coordinated control of two robotic manipulators for physical interactions with astronauts

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School of Electrical Engineering | Master's thesis
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Date

2010

Department

Automaatio- ja systeemitekniikan laitos

Major/Subject

Automaatiotekniikka

Mcode

Aut-84

Degree programme

Language

en

Pages

(13) + 99 s. + liitt. 13

Series

Abstract

The following thesis presents the complete development. simulation. and experimental work towards the coordinated control of a dual-manipulator system for physical human-robot interactions. The project aims at pushing robot autonomy towards new boundaries. In the context of space exploration, the potential gain of increased autonomy is enormous and has been a major area of research. Enabling cooperation between an astronaut and a robot has the potential to increase the overall productivity of extra-vehicular activities without the hazard an cost of an additional astronaut. The concept of physical human-robot interaction is motivated by a simple. reliable and robust language between humans and robots. id est. the physical world. In this work, the scope of the problem is limited to the control of two robotic manipulators to manipulate a single object while allowing human input via external forces as part of mission objectives. The robot used here is the Work Partner, a centaur-like robot whose upper body consists of a two degrees-of-freedom torso and two manipulators with five degrees-of-freedom each. This thesis presents revisited solutions to the underlying problems of dynamics compensation and external force estimation, integrated in a modern implementation using the virtual model control concept, kinetostatic transmission elements and a behaviour-based strategy. Classic solutions are reviewed and a control strategy is adopted which incorporates widely applicable solutions, and thus, forms a modern basis for further developments. Some simple scenarios are validated for basic stability and performance through simulations, first with a simple pendulum system and then, with the Work Partner's upper body. Finally, experimental results further reinforce the validity and performance arguments for the proposed algorithms and control architecture.

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Supervisor

Halme, Aarne|Hyyppä, Kalevi

Thesis advisor

Heikkilä, Seppo

Keywords

compliant control, dual-manipulator, physical human-robot interaction, virtual model control, kinetostatic transmission elements, behaviour-based, external, force estimation, humanoid robotics, embodied intelligence

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Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-2020122357515

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[dipl] Sähkötekniikan korkeakoulu / ELEC