Development and testing of an impedance controller on an anthropomorphic robot for extreme environment operations
Name
988750748-MIT.pdf
Description
Full printable version
Size
12.61 MB
Format
Adobe PDF
Checksum (MD5)
923a6a68f2e8e011a3009c67852333e6
Author(s)
Hosford, Lucille Aileen
Advisor(s)
Neville Hogan.
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
This thesis explores the use of impedance control on an anthropomorphic robot for operations in extreme, poorly mapped environments. First, a dynamic model was developed for a Baxter Research Robot. This model improved on standard dynamic models for similar robots by including the dynamics of the actuators in the system. Specifically, it was demonstrated that when the effective inertia of the actuators is neglected, the system will transmit 1.6 times more force to the environment than the model predicts. A force based Cartesian impedance controller was then implemented on Baxter, and numerous ways to modulate the endpoint impedance, including feedback and geometric configuration, were discussed and compared. Finally, a series of scaled down tasks similar to ones which are required in the decommissioning of offshore oil fields were then completed on Baxter using the Cartesian impedance controller. Overall, it was demonstrated that by using this more advanced control scheme, Baxter was (1) capable of satisfactorily completing the scaled down tasks, (2) more robust against errors in the map of the environment than with traditional controllers, and (3) capable of improving the map of its environment while completing the task.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 99-102).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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