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Extension of the Control Concept for a Mobile Overhead Manipulator to Whole-Body Impedance Control

Igler, Leonardo Alessandro (2023) Extension of the Control Concept for a Mobile Overhead Manipulator to Whole-Body Impedance Control. Other, Technische Universität München.

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Abstract

At present, robots constitute a central component of contemporary factories. The application of traditional ground-based systems, however, may lead to congested floors with minimal space left for new robots or human workers. Overhead manipulators, on the other hand, aim to occupy the unutilized ceiling space, in order to manipulate the workspace located below them. The SwarmRail system is an example of such an overhead manipulator. This concept deploys mobile units driving across a passive railstructure above the ground. Additionally, equipping the mobile units with robotic arms at their bottom side enables this design to provide continuous overhead manipulation while in motion. Although a first demonstrator confirmed the functional capability of said system, the current hardware suffers from complications while traversing rail crossings. Due to uneven rails consecutive rails, said crossing points cause the robot's wheels to collide with the new rail segment it is driving towards. Additionally, the robot experiences an undesired sudden altitude change. In this thesis, we aim to implement a hierarchical whole-body impedance tracking controller for the robots employed within the SwarmRail system. Our controller combines a kinematically controlled mobile unit with the impedance-based control of a robotic arm through an admittance interface. The focus of this thesis is set on the controller's robustness against the previously mentioned external disturbances. The performance of this controller is validated inside a simulation that incorporates the aforementioned complications. Our findings suggest, that the control strategy presented in this thesis provides a foundation for the development of a controller applicable to the physical demonstrator.

Item URL in elib:https://elib.dlr.de/194575/
Document Type:Thesis (Other)
Title:Extension of the Control Concept for a Mobile Overhead Manipulator to Whole-Body Impedance Control
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Igler, Leonardo AlessandroUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:May 2023
Refereed publication:No
Open Access:Yes
Status:Published
Keywords:Overhead manipulator, impedance control, admittance control, whole-body control, hierarchical control
Institution:Technische Universität München
Department:Department of Informatics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics, R - Project Factory of the Future
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:16 May 2023 10:10
Last Modified:01 Jul 2023 03:00

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