ETD system

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Tesi etd-09182012-152150


Thesis type
Tesi di laurea magistrale
Author
ROCCHI, ALESSIO
URN
etd-09182012-152150
Title
Stiffness Control in Robotic Assembly Tasks
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
relatore Prof. Bicchi, Antonio
controrelatore Gabiccini, Marco
Parole chiave
  • soft robotics
  • assembly
  • vsa
  • stiffness selection
  • optimal stiffness
  • stiffness optimization
  • peg-in-hole
Data inizio appello
05/10/2012;
Consultabilità
Parziale
Data di rilascio
05/10/2052
Riassunto analitico
The peg in hole problem has been heavily studied in literature as a simple model to analyze assembly scenarios. Due to advances in robotic hardware and research on robots which are safe to humans, many of the models and simplifications present in literature don't apply anymore or present poor approximations for modern robots with impedance controllers. In the following work the problem of a peg-in-hole insertion with a impedance controlled robot will be tackled, and simple rules to choose optimal cartesian stiffnesses are presented. The same rules are then applied to solve the problem of optimizing stiffnesses for a VSA robot, where a desired cartesian stiffness cannot generally be obtained. A method to chose weights for the simple weighted minimization of the distance between the desired and obtained cartesian stiffnesses is then proposed, and the results of both approaches are compared by using a robot with deboupled joint stiffness control. Lastly, results of a bimanual insertion using a real VSA robot are proposed.
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