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Modelling of Multiple, Physically Coupled Robots for Distributed Control of a Cooperative Manipulation Task

http://block.arch.ethz.ch

This project contributes to the larger goal of controlling multiple robotic arms in a cooperative manipulation task, where they are physically coupled through an object.

In order to cooperatively manipulate objects, the robots are controlled by lower-level decentralized impedance-controllers, such that they behave as virtual mass-spring-damper-systems. This flexibility helps to avoid high interaction forces and therefore possible damage to the object in the presence of uncertainties.

The main goal of the project is to develop and implement a model of multiple, physically coupled robots in impedance-mode in the 3D space.

If time allows, a newly developed distributed estimation and control scheme can be implemented and be tested on the simulation model.

• Familiarization with robotics dynamics and robotics low-level impedance control (theory);
• Extension of an existing model of physically coupled robots in 1D to the 3D space, including extension to rotational degrees of freedom;
• Implementation and testing of the developed model in Matlab/Simulink;
• Implementation of a central trajectory planner for the transportation of an object;
• (If time permits) Use a newly developed distributed control and estimation scheme to simulate a transportation task;

Feel free to contact stuerzy@control.ee.ethz.ch for further information.