From: 2025-06-05 13:00 to 13:45
Place: Large Conference Room 2485-88 in the M-building, LTH
Contact: bjorn [dot] olofsson [at] control [dot] lth [dot] se

Date & Time: June 5th, 13:00-13:45
Location: Large Conference Room 2485-88 in the M-building, LTH
Author: Filip Karlsson
Title: Robot force/motion tracking and estimation of contact geometric parameters
Supervisor:  Yiannis Karayiannidis
Examiner: Björn Olofsson
Abstract: This thesis investigates the implementation of velocity controllers for force and motion control. It also explores how adaptive estimators and velocity control can be integrated cooperatively to enhance the accuracy and efficiency of such control systems. Additionally, the thesis addresses how uncertainties affect position tracking performance, offering insights and solutions to mitigate their impact. These aspects are demonstrated through a series of experiments using a Universal Robots robotic arm, examining its ability to draw perfect circles on a sloped surface by employing hybrid force/motion control and adaptive estimators. The thesis also presents theoretical foundations, limitations, insights, and safety considerations related to hybrid force/motion control tasks. The results of this study are crucial for developing reliable robotic systems that operate in unknown or dynamically changing environments, especially where cameras cannot be used. The proposed methods and findings have the potential to benefit a wide range of robotic applications that rely on similar control mechanisms, including tasks such as peg-in-hole insertion or require interaction of the environment such as surface wiping.