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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-04172023-194735


Tipo di tesi
Tesi di laurea magistrale
Autore
LOMBARDO, LUCA
URN
etd-04172023-194735
Titolo
Planning and Control of a Collaborative Manipulator in the Risk Space
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
relatore Prof. Salaris, Paolo
relatore Prof. Grioli, Giorgio
Parole chiave
  • control
  • danger
  • planning
  • risk
  • robot
Data inizio appello
04/05/2023
Consultabilità
Tesi non consultabile
Riassunto
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.
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