Robotics 2 Information

Transcription

1 Robotics 2 Information Prof. Alessandro De Luca

2 Robotics 2! 2017/18! Second semester! Monday, February 26 Wednesday, May 30, 2018! Courses of study (code)! Master in Artificial Intelligence and Robotics (MARR)! Master in Control Engineering (MCER)! Credits: 6! 60 hours of classes, 75 of individual study! Classes! Monday 08:00-10:00 (room B2, Via Ariosto 25)! Wednesday 14:00-17:00 (room B2, Via Ariosto 25) Robotics 2 2

3 ! Office hours Contacts! every Tuesday 14:00-15:30 c/o office A-210, left wing, floor 2, DIAG, Via Ariosto 25! and/or by (with some advance)! look at the tab My travel dates on my web site! URL: Video channel: Course material (lecture slides, videos shown, written exams, )! lecture slides ready (but possibly updated during the course)! Registration to exams! Robotics 2 3

4 General information! Prerequisites! Robotics 1 as prerequisite! Aims! advanced kinematics & dynamic analysis of robot manipulators! design of sensory feedback control laws for free motion and interaction tasks! Textbook! B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling, Planning and Control, 3rd Edition, Springer, 2009! Related courses! Autonomous and Mobile Robotics: this semester, 6 credits! Elective in Robotics: this year, 12 credits (four modules) or Control Problems in Robotics: this year, 6 credits (two modules)! Medical Robotics: this semester, 6 credits Robotics 2 4

5 An international textbook... B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling, Planning and Control, 3rd Edition, Springer, 2009 Robotics 2 5

6 ! Type of exam Exams and Master Thesis! classroom midterm test (qualifies for final project)! written test + oral part (or final project + oral presentation)! Schedule for academic year 2017/18 (already open in infostud)! 2 sessions at the end of this semester! June 6, 9:00, room B2 and July 11, 9:00, room B2! 1 session after the summer break! September 11, 9:00, room B2! 2 extra sessions only for students of previous years, part-time, etc.! March 27, 9:00, room A4 and October 18, 2018, time/room tbd! 2 sessions at the end of the first semester of next year! January and February 2019! Master theses! available at DIAG Robotics Lab: with Professors L. Lanari, G. Oriolo, and M. Vendittelli Robotics 2 6

7 Program - 1! Advanced kinematics! kinematic calibration! kinematic redundancy and related control methods! Dynamic modeling of manipulators! direct and inverse dynamics! Euler-Lagrange formulation! Newton-Euler formulation! properties of the dynamic model! identification of dynamic parameters! inclusion of flexibility at the joints! inclusion of geometric constraints Robotics 2 7

8 Program - 2! Design of feedback control laws! free motion tasks! set-point regulation! PD with gravity cancellation or compensation! PID or saturated PID! iterative learning! trajectory tracking! feedback linearization and input-output decoupling! passivity-based control! adaptive control! robust control! interaction tasks with the environment! compliance control! impedance control! hybrid force/velocity control Robotics 2 8

9 Program - 3! Exteroceptive feedback control laws! image- and position-based visual servoing! kinematic treatment! Research-oriented seminars! diagnosis of robot actuator faults! physical Human-Robot Interaction (phri)! safety: sensorless collision detection and robot reaction! coexistence: collision avoidance while sharing workspace! collaboration: intentional exchange of contact forces! Simulation tools! Matlab/Simulink! V-REP Robotics 2 9

10 Sneak preview videos follow...! kinematic redundancy and related control methods! block #2, slides 51-56, (Task Priority, HQP) + slides (SNS)! robot dynamic modeling and identification! block #5, slides 17-30! motion control in the presence of joint flexibility or variable stiffness actuation! modeling: block #5, slides (and beyond)! control: block #10, slide 10 & block #15, slides 2-10! safe physical human-robot interaction & collaboration! block #14, slide 35 + block #15, slides 2-10 (generalized version)! block #19, all slides + block #20, slides 2-8, Robotics 2 10

11 Kinematic control and redundancy KUKA LWR4 robot video IROS 2012 SNS algorithm for handling hard limits in the joint (and Cartesian) space Robotics 2 11

12 Kinematic control and redundancy HRP-2 humanoid robot Toulouse HQP approach for multiple equality and inequality tasks with priorities Robotics 2 12

13 Dynamic modeling and identification data acquisition for identification 2 videos ICRA Robotics Lab model validation by torque prediction KUKA LWR4+ robot with joint torque sensing dynamic simulation with V-REP video Robotics 2 13

14 Dynamic modeling and identification e.g., linear parametrization of gravity term in robot dynamic model symbolic expressions of gravityrelated dynamic coefficients numerical values identified through experiments gravity joint torques prediction/evaluation on new validation trajectory Robotics 2 14

15 Dynamic modeling and identification complete dynamic model estimation vs. joint torque sensor measurement - friction meas without the use of a joint friction model including an identified joint friction model Robotics 2 15

16 Motion control under joint flexibility 2 München low-damped oscillations due to flexibility of robot transmissions at the joints (use of Harmonic Drives) end-effector response to forces with impedance control (behavior selective in directions) Robotics 2 16

17 Motion control with VSA 3 of Pisa modular, low-cost qbmove units compliant motion with Variable Stiffness Actuators Robotics 2 17

18 Safe human-robot collaboration video IROS Robotics Lab Robotics 2 18

19 Physical human-robot interaction control video ICRA Robotics Lab Robotics 2 19

20 Recent and on-going EU research projects! FP7 SAPHARI ( )! Safe and Autonomous Physical Human-Aware Robot Interaction! H2020 SYMPLEXITY ( )! Symbiotic Human-Robot Solutions for Complex Surface Finishing Operations! H2020 COMANOID ( )! Multi-Contact Collaborative Humanoids in Aircraft Manufacturing " comanoid.cnrs.fr Robotics 2 20