Thesis Projects Proposals

Master-Thesis Summary

Bachelor-Thesis Summary

Master Thesis

Dual-Arm Force Control for Peg-in-Hole Assembly

The project’s aim is to employ a dual-arm setup for the accomplishment of a peg-in-hole task. Peg-in-hole is a type of assembly task in which a convex object (peg) has to be plugged into its concave counterpart (hole) of the same shape. The main idea is to deal with two serial robots, each one of them assigned with a precise job: while the first robot holds the hole in position, the second robot, which is force-controlled, has to insert the peg. The feedback received from the sensor attached to the second-robot end-effector is used to adjust the motion in order to facilitate the insertion of the peg.

In collaboration with: DIN

Time-Optimal Trajectory Planning for Manipulation of Loosely-Placed Objects: the Waiter Motion

Source: H. Gattringer, A. Müller “Reliable Time-Optimal Point to Point Handling of Unmounted Objects with Industrial Robots”, ROMANSY 24 – Robot Design, Dynamics and Control, 2022.

The project aims at solving the so-called general waiter problem. The waiter problem consists of moving a tray (which is attached to the robot end-effector), on which some cups are placed. The motion must be executed by the robot in the fastest way possible, from one pose to another, such that the cups do not slide at any time. The geometric path of the tray is prescribed, whereas its orientation represents a variable of the problem.

In collaboration with: DIN

AI-based point cloud clustering and labelling to generate safety signals for collaborative robots

Source: Bruno Albert, “Pose Tracking of
an Articulated Human Body”, Master Thesis, 2013

This project aims to implement a safety sensor prototype that can recognize and estimate the distance of a human by 3D vision. The program is based on point cloud segmentation performed through Deep Learning techniques. The vision-based algorithm, therefore, will be trained over samples available online and finely tuned with data collected in the laboratory. The resulting human distance in the monitored scene will be then used as a trigger for the collaborative robot to switch to reduce mode or safety-monitored stop. To achieve this goal, the integration of a digital I/O device between the workstation and the cobot controller will also be required and developed for the use case.

In collaboration with: DIN

Study of rectilinear motion-to-motion anti-sloshing trajectories

The term sloshing refers to the stirring of a liquid inside a container during its motion. Anti-sloshing motion laws are studied in the literature to avoid liquid spillage and, in general, control the motion of the liquid free-surface. Classical anti-sloshing methods are applied to execute rest-to-rest movements. This project aims to develop rectilinear anti-sloshing trajectories for an utterly general situation: from a motion condition (velocity and acceleration different from zero) to a motion condition.

In collaboration with: DIN

Development of anti-sloshing paths for 2D planar motions

Source: R. Di Leva, M. Carricato, H. Gattringer, A. Müller “Sloshing Dynamics Estimation for Liquid-filled Containers under 2-Dimensional Excitation”, 10th ECCOMAS Thematic Conference on Multibody Dynamics, 2021.

The term sloshing refers to the stirring of a liquid inside a container during its motion. Anti-sloshing motion laws are studied in the literature to avoid liquid spillage and, in general, control the motion of the liquid free-surface. This project aims to develop a general method for the fast computation of 2D planar anti-sloshing motions by controlling only the geometrical path of the container without optimizing the timing law.

In collaboration with: DIN

Modeling and design of dynamic balancing systems for serial robots

Robots are commonly used in many industrial applications, especially in the packaging industry, where repetitive operations must be performed in the shortest time to saturate the required productivity. It is essential to reduce the weights and inertia of the moving parts of the manipulators to perform this task. With this in mind, the first aim of this work is to analyse the existing robot architectures developed by Marchesini Group S.p.a. and to evaluate the possibility of not mounting dynamic balancing systems (springs, pneumatic cylinders, …) on these robots (that is beneficial in the execution of highly dynamic tasks). The second objective is to develop an instrument to guide the mechanical designer in choosing the balancing systems (where necessary) by taking into account the inertia of the mobile parts, the motor power consumption, and cost analysis.

In collaboration with: Marchesini Group S.p.a.

IMU-based shape sensing of planar continuum parallel robots

Source:  Continuum Parallel Robot prototype developed at the Laboratoire des sciences du Numérique de Nantes, (France), in collaboration with IRMA L@B.

Continuum robots (CRs) are manipulators usually made of slender flexible components, developed to respond to the increasing necessity of safe interactions between robots and the environment. CRs are well suited for applications where the stiffness of rigid-link robots is considered a disadvantage.  Continuum parallel robots (CPRs) have been proposed to mitigate the disadvantages typical of serial continuum robots such as their reduced payload capability. CPRs are commonly made by flexible beams disposed in a parallel arrangement, and connected to a rigid end effector. Despite the great effort dedicated to CRs accurate modelling, shape sensing techniques are at an early stage. Moreover, while IMUs are currently employed in serial CRs (mounted at the end effector, or in several intermediate sections) this topic remains unexplored in CPRs. In this project, we propose the application of IMUs for the reconstruction of the shape of a continuum parallel robot. IMUs will be placed on the beams, and, thanks to the obtained data, their shape could be reconstructed.

In collaboration with: DIN

Bachelor Thesis

Integrazione hardware e software di un joystick per il telecontrollo di un robot collaborativo UR5e tramite socket TCP/IP

Hardware and software integration of a joystick for remote control of a UR5e collaborative robot via TCP/IP socket

Connecting a joystick to a PC is already possible to control a collaborative robot (or cobot) such as the model UR5e by Universal Robots at the disposal of IRMA L@B. However, previous work was developed and demonstrated how it is possible to connect a joystick directly to the cobot control box by bridging the two devices with a simple Arduino microprocessor. Nonetheless, the limited amount of digital and analog input exposed by the cobot controller does not allow the robotic arm to control all six axes at once. This project aims at solving this issue by adding an ethernet shield to the Arduino board so that the connection can migrate to the socket port of the controller. In this way, the Arduino+joystick system can act as a standard MODBUS module or a generic TCP/IP client to a suitable server run on the cobot controller.

In collaboration with: DIN

Studio di traiettorie anti-sloshing rettilinee basate su leggi di moto segmentate

Study of rectilinear anti-sloshing trajectories based on segmented motion laws

The term sloshing refers to the stirring of a liquid inside a container during its motion. Anti-sloshing motion laws are studied in the literature to avoid liquid spillage and, in general, control the motion of the liquid free-surface. This project aims to develop rectilinear anti-sloshing trajectories by simply choosing the duration of the segments in common segmented motion law (e.g. constant acceleration, trapezoid acceleration, …), instead of applying techniques based on a modification of a predefined trajectory (input shaping, IIR filtering, FIR filtering, …).

In collaboration with: DIN