Welcome to Physical Human-Robot Interaction - Force Estimation & Control
Description:
Humans and robots are beginning to collaborate physically to solve complex tasks. That could be assembly tasks in unstructured environments, where the robot takes care of the heavy lifting, while the operator controls the movement of it. For a robot to facilitate such an operation the external forces applied by the operator must be translated to a trajectory for the robot to follow, which entails a control system for ensuring the trajectory is followed.
The course has three main parts consisting of modeling of robot manipulators, force control of robot manipulators, and human operator intend estimation.
The course provides an introduction to kinematic and dynamic modeling of robot manipulators, where going from a CAD file in SolidWorks to a dynamic simulation model in MATLAB will be shown. This is followed by the fundamentals in direct and indirect force control covering inverse dynamic control, impedance- and admittance control. Lastly, we cover the intend estimation, which is closely coupled to the more general field of nonlinear disturbance observers for Euler-Lagrangian systems. Throughout the course, examples and exercises will be carried out on a robot manipulator simulation model implemented in MATLAB Simulink Simmechanics.
Prerequisites:
A basic knowledge of mathematics as obtained through undergraduate engineering studies. Installation of SolidWorks (Student version is fine) and MATLAB 2016b or later.
Organizer: Associate Professor John Leth, Department of Electronic Systems
Lecturers: Associate Professor John Leth, Department of Electronic Systems and PostDoc Rasmus Pedersen, Department of Electronic Systems
ECTS: 3
Time: August 13 to August 17, 2018
Place:
City:
Number of seats: 50
Deadline: July 23, 2018
Important information concerning PhD courses We have over some time experienced problems with no-show for both project and general courses. It has now reached a point where we are forced to take action. Therefore, the Doctoral School has decided to introduce a no-show fee of DKK 5,000 for each course where the student does not show up. Cancellations are accepted no later than 2 weeks before start of the course. Registered illness is of course an acceptable reason for not showing up on those days. Furthermore, all courses open for registration approximately three months before start. This can hopefully also provide new students a chance to register for courses during the year. We look forward to your registrations
- Teacher: Jan Dimon Bendtsen
- Teacher: John-Josef Leth