Tipo di tesi
Tesi di laurea magistrale
Titolo
Planning and Control of a Collaborative Manipulator in the Risk Space
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Riassunto (Italiano)
The goal of this study is finding a mathematical definition of risk that goes beyond the simple distance to the obstacle, combining a realistic representation of doubt about a possible collision without taking cover with exaggerated confidence margins. In this way, the robot can maintain high safety standards without compromising efficiency. The hazard function must be minimizable in a simple way directly in the robot's configuration space so that a control law consistent with its kinematic structure can be derived. The control algorithm must also be easily adaptable to different scenarios and robots and stackable to all kinds of tasks.
