Project Description
When addressing dual-arm manipulation, different approaches are available in literature on how to limit and control the interaction forces that the robots exert on the object. One may follow a primary-secondary strategy, where one robot is position-controlled and the other is force-controlled. Other researchers adopt admittance or impedance control on both robots, with each of the two approaches leading to different advantages/disadvantages. Since it is not trivial to choose among the available controllers the proper force controller, a performance index may be established to select the proper force controller based on the task to be accomplished.
This project aims to study and implement the different force controllers on a dual-arm setup, and to determine a suitable criterion of choice among them.
Prerequisites
- Sound knowledge of basic mathematics
- Basic knowledge of Control theory
- Strong initiative and attitude problem solving
- Strong will to cope with demanding challenges
- Keen on studying complex new theory
Not required but good to have
- Foundation of mechanics of robots
- Foundation of C++
Target Objectives
- Study of existing robotic force controllers
- Acquire competence in robotic force control
- Acquire competence in research activities (bibliography analysis)
Expected Results
- Analysis of the literature regarding robotic force control
- Implementation of the different force-control algorithms
- Experimental campaign to test the implemented controllers
Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna 