Tesi etd-04172023-111707 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
BORRACCINO, MARCO
URN
etd-04172023-111707
Titolo
Design, Planning, and Control of Collaborative Dual-Arm Mobile Manipulator for Depalletizing Tasks
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Salaris, Paolo
relatore Prof.ssa Pallottino, Lucia
supervisore Palleschi, Alessandro
relatore Prof.ssa Pallottino, Lucia
supervisore Palleschi, Alessandro
Parole chiave
- collaborative robot
- dual-arm mobile robot
- loco-manipulation planning
- manipulability analysis
- ROS/Simulink simulation
Data inizio appello
04/05/2023
Consultabilità
Tesi non consultabile
Riassunto
The industrial logistic market increasingly needs autonomous systems capable of performing complex tasks in an environment that is still not fully digitalized: palletizing and de-palletizing, pick and place, and transport are just some of them. The problem of de-palletization is addressed in this thesis work, whose goal is designing and controlling a Dual-Arm Mobile Manipulator capable of replicating picking primitives inspired by human movements. Starting from the individual robots, a task-based manipulability analysis of the system shows us an efficient relative configuration of the robots. Subsequently, I create the model and implement a planning and control algorithm to synchronize the different loco-manipulation tasks. Thanks to several tests in different possible scenarios, the effectiveness of the proposed system is confirmed.
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