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Robotics 2

Information

Prof. Alessandro De Luca


Robotics 2 ! 2016/17

!  Second semester
!  Monday, February 20 – Wednesday, May 24, 2017
!  Courses of study (code)
!  Master in Control Engineering (MCER)
!  Master in Artificial Intelligence and Robotics (MARR)
!  Credits: 6
!  60 hours of classes, 75 of individual study
!  New timing! Classes
!  Monday 08:00-10:00 (room B2, Via Ariosto 25)
!  Wednesday 14:00-16:00 (room B2, Via Ariosto 25)
!  Wednesday 16:00-18:00 (room B2, Via Ariosto 25)

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Contacts
!  Office hours
!  every Tuesday 12:00-13:30 c/o office A-210, left wing, floor 2,
DIAG, Via Ariosto 25
!  and/or by email (with some advance)
!  look at the tab “My travel dates” on my web site
!  Email: deluca@diag.uniroma1.it
!  URL: http://www.diag.uniroma1.it/~deluca
!  Video channel: http://www.youtube.com/user/RoboticsLabSapienza
!  Course material (lecture slides, videos shown, written exams, …)
!  http://www.diag.uniroma1.it/~deluca/rob2_en.html
!  lecture slides ready (but possibly updated during the course)
!  Registration to exams
!  http://www.uniroma1.it/studenti/infostud/
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General information
!  Prerequisites
!  Robotics 1 as prerequisite
!  Aims
!  advanced kinematics & dynamic analysis of robot manipulators
!  design of sensory feedback control laws for free motion and
interaction tasks
!  Textbook
!  B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling,
Planning and Control, 3rd Edition, Springer, 2009
!  Related courses
!  Autonomous and Mobile Robotics: this semester, 6 credits
!  Elective in Robotics: this year, 12 credits (four modules)
!  Medical Robotics: this semester, 6 credits

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An international textbook...
B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo: Robotics: Modelling,
Planning and Control, 3rd Edition, Springer, 2009

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Exams and Master Thesis
!  Type of exam
!  classroom midterm test (qualifies for final project)
!  written test + oral part (or final project + oral presentation)
!  Schedule for academic year 2016/17 (already open in infostud)
!  2 sessions at the end of this semester
!  June 6, 9:00, room B2 and July 11, 9:00, room B2
!  1 session after the summer break
!  September 11, 9:00, room B2
!  2 extra sessions only for students of previous years, part-time, etc.
!  April 11 and October 27, 2017
!  2 sessions at the end of the first semester of next year
!  January and February 2018
!  Master theses
!  available at DIAG Robotics Lab: http://www.diag.uniroma1.it/~labrob
!  with Prof. G. Oriolo and Prof. M. Vendittelli
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Program - 1

!  Advanced kinematics
!  kinematic calibration
!  kinematic redundancy and related control methods
!  Dynamic modeling of manipulators
!  direct and inverse dynamics
!  Euler-Lagrange formulation
!  Newton-Euler formulation
!  properties of the dynamic model
!  identification of dynamic parameters
!  inclusion of flexibility at the joints
!  inclusion of geometric constraints

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Program - 2
!  Design of feedback control laws
!  free motion tasks
!  set-point regulation
!  PD with gravity cancellation or compensation
!  PID or saturated PID
!  iterative learning
!  trajectory tracking
!  feedback linearization and input-output decoupling
!  passivity-based control
!  adaptive control
!  robust control
!  interaction tasks with the environment
!  compliance control
!  impedance control
!  hybrid force/velocity control

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Program - 3
!  Exteroceptive feedback control laws
!  image- and position-based visual servoing
!  kinematic treatment
!  Seminars (a selection from the following topics)
!  diagnosis of robot actuator faults
!  physical Human-Robot Interaction (pHRI)
!  safety: sensorless collision detection and robot reaction
!  coexistence: collision avoidance while sharing workspace
!  collaboration: intentional exchange of contact forces
!  minimum-time trajectory planning along geometric paths
!  force- and vision-based control in industrial robots
!  simulation tools (Matlab/Simulink, V-REP)

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Sneak preview videos
!  kinematic redundancy and related control methods
!  block #2, slides 50-55 (Task Priority, HQP) + slides 68-76 (SNS)
!  robot dynamic modeling and identification
!  block #5, slides 17-30
!  motion control in the presence of joint flexibility or
variable stiffness actuation
!  modeling: block #5, slides 14-16 (and beyond)
!  control: block #10, slide 10 & block #15, slides 2-10
!  safe physical human-robot interaction & collaboration
!  block #14, slide 34 + block #15, slides 2-10 (generalized version)
!  block #19, slides 39-45 + block #20, slides 27-28
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Kinematic control and redundancy
KUKA LWR4 robot video IROS 2012

SNS algorithm for handling “hard” limits in the joint (and Cartesian) space
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Kinematic control and redundancy
HRP-2 humanoid robot video @LAAS/CNRS Toulouse

HQP approach for multiple equality and inequality tasks with priorities
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Dynamic modeling and identification

data acquisition 2 videos ICRA 2014 @DIAG Robotics Lab model validation
for identification by torque prediction

KUKA LWR4+ robot dynamic


with joint torque simulation
sensing with V-REP

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video 13
Dynamic modeling and identification
e.g., linear parametrization of gravity term in robot dynamic model

symbolic expressions of gravity-


related dynamic coefficients
−3
x 10
1 0.5

g1 value [Nm]

g5 value [Nm]
0.5

0 0

−0.5

−1 −0.5
0 5 10 15 20 0 5 10 15 20

40 0.3

g2 value [Nm]

g6 value [Nm]
20 0.2

0 0.1

numerical values −20

−40 −0.1
0

identified through
0 5 10 15 20 0 5 10 15 20

−3
x 10

experiments
20 4

g3 value [Nm]

g7 value [Nm]
10
2
0
0
−10

gravity joint torques


−20 −2
0 5 10 15 20 0 5 10 15 20
Time [s]

prediction/evaluation on 4

g4 value [Nm]
2

new validation trajectory


retrieved g(q)
0 computed g(q)

−2

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−4
0 5 10 15 20
Time [s]
Dynamic modeling and identification
complete dynamic model estimation vs. joint torque sensor measurement
4 1 4 1

τ1 [Nm]

τ5 [Nm]
τ1 [Nm]

τ5 [Nm]
2 2
0 0
0 0

−2 −1 −2 −1
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25

50 0.5 50 0.5

τ [Nm]

τ6 [Nm]
0
τ2 [Nm]

τ6 [Nm]

0
0 0

2
−0.5 −0.5

−50 −1 −50 −1
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25

20 1 20 1

τ [Nm]

τ7 [Nm]
0
τ3 [Nm]

τ7 [Nm]

0
0 0

3
−1 −1

−20 −2 −20 −2
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
Time [s] Time [s]
5 5

τ4 [Nm]
actual (filtered) torques
τ4 [Nm]

0 actual (filtered) torques 0 estimated torques (with friction estimate)


estimated torques (without friction estimate)

−5 −5
0 5 10 15 20 25 0 5 10 15 20 25
Time [s] Time [s]

without the use of a joint friction model including an identified joint friction model

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Motion control under joint flexibility
2 videos @DLR München

low-damped oscillations due to flexibility end-effector response to forces


of robot transmissions at the joints with impedance control
(use of Harmonic Drives) (behavior selective in directions)

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Motion control with VSA

3 videos modular, low-cost


@University of Pisa qbmove units

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compliant motion with Variable Stiffness Actuators 17
Safe human-robot collaboration
video IROS 2013 @DIAG Robotics Lab

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Physical human-robot interaction control
video ICRA 2015 @DIAG Robotics Lab

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Recent and on-going
EU research projects
!  FP7 SAPHARI (2011-2015)
!  Safe and Autonomous Physical
Human-Aware Robot Interaction
!  www.saphari.eu

!  H2020 SYMPLEXITY (2015-2018)


!  Symbiotic Human-Robot Solutions for
Complex Surface Finishing Operations
!  https://www.symplexity.eu

!  H2020 COMANOID (2015-2018)


!  Multi-Contact Collaborative Humanoids
in Aircraft Manufacturing
"  comanoid.cnrs.fr
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