Master project 2015

Controlling a redundant robot for the task space manipulations
Guillaume Clivaz (MT)

Redundant manipulators have been designed to improve manipulability, flexibility and dexterity. One of the most fundamental issues regarding redundant manipulators is task space manipulation; i.e. finding a joint level command corresponding to the desired end-effector’s trajectory. There are two general solutions to solve this problem. The first option involves, directly solving the inverse kinematics problem by finding a feasible joint trajectory given the end-effector’s trajectory. An alternative option is to use a task space inverse dynamic controller. The aim of this project is to control a redundant robot in the task space, subject to equality and inequality/bound constraints such as joint limits, angular velocity and acceleration limits. The student will first review literature on related topics, then the proposed control architecture will be implemented in C/C++ in a simulator in Linux environment and then with the real robot, a 7 DOF arm from KUKA.
Project: Master Project at EPFL
Period: 19.02.2015 – 19.08.2015
Section(s): EL IN ME MT
Type: Theory(40%), Robot Implementation (30%), Programming (30%)
Knowledge(s): C++, Linux, Matlab
Subject(s): Robotics, Inverse Dynamic, Task space manipulation, Dynamical system
Responsible(s): Seyed Sina Mirrazavi Salehian, Nadia Figueroa