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Singularity & Oscillation avoidance in HRC tasks (BSC, ST, MT)
One of the most challenging tasks in HRC with Impedance control is the avoidance of singularities, as they promote oscillations, erratic behaviour and very fast joint motion. Normally, they are circumvented through adequate path planning or pre-programming of robot trajectories. However, during interactive tasks, the robot might be subject to dynamic external forces (through direct interaction or safety frameworks for collision avoidance) which deviate the end-effector from the planned path. Your goal is to develop a singularity avoidance algorithm, which stops the robot from moving into these configurations, while (in a reasonable manner) not blocking the entire task execution. This may involve path re-planning, null space projection, virtual torques or any other method you might find suited to the task.
Keywords: Robot Dynamics, Control, Robotics
We push the boundaries of human-robot collaboration at PDZ
We push the boundaries of human-robot collaboration at PDZ
see abstract
see abstract
• Some prior experience with C++ • Some knowledge of Robot Dynamics and Kinematics
Not specified
Not specified
send your cv and transcripts to gimenol@ethz.ch, Lucas Gimeno
send your cv and transcripts to gimenol@ethz.ch, Lucas Gimeno
