Digital Theses Archive


Tesi etd-04282017-233951

Type of thesis
A Unified Hierarchical Framework for Motion Planning and Control of Anthropomorphic Robotic Manipulators: an Intended Application of Physical Human-Robot Interaction to Rehabilitation
Scientific disciplinary sector
INGEGNERIA - Biorobotics
relatore DARIO, PAOLO
  • Admittance control
  • collision avoidance
  • Inverse kinematics
  • Motion Planning
  • Robot control
  • Robotic rehabilitation
Exam session start date
This research is aimed to design, modeling and simulation validation of compliance control of 7DOF robotic manipulator for rehabilitative purposes. This research initiates with, a systematic literature review on robotic interaction is by which the theoretical and technical aspects of interaction control algorithm are studied and analyzed. In this review, a critical analysis of the control algorithms developed for robotic interaction tasks is presented. A hierarchical classification of distributed control levels from general aspects to specific control algorithms is also illustrated. Hence, two main control paradigms are discussed together with control approaches and architectures. The challenges of each control approach are discussed and the relevant solutions are presented. Furthermore, it presents an evolvement trend of interaction control theories and technologies over time. In addition, it highlights the pros and cons of each control approaches with addressing how the flaws of one control approach were compensated by emerging another control methods. This review provides the robotic controller designers to select the right architecture and accordingly design the appropriate control algorithm for any given interactive task and with respect to the technology implemented in robotic manipulator. Hence, the impedance controllability is recognized as one of the control challenges of interaction control. Safety is another issue to be faced in rehabilitation control which is analyzed in two terms: collision avoidance and stability of the controller. To achieve these, an innovative collision and singularity free redundancy resolution named “BioInspired Inverse Kinematic (BINIK)” is presented. The algorithm, takes advantage of is human upper arm-inspired concept of inter-joint dependency to control a 7DOF anthropomorphic redundant robotic arm (Teletobot). A mechanism is presented in this research in order to provide the optimal working point of the algorithm. Finally the performance of the algorithm is evaluated through a set of kinematical simulations. In the next two parts of this dissertation, the theory of joint space admittance control is presented and a set of rehabilitative tasks are simulated as the application of this control. The general idea of this control theory is to motion planning in trajectory space and doing control in joint space. So, by applying BINIK a collision-avoided motion is achieved. The stability conditions of the system are obtained through a stability analysis and are applied on controller design. In fifth chapter, the kinematics and dynamics of rehabilitation task is analyzed based on which a set of task/control modalities are designed. Accordingly, numbers of dynamic simulation trials are designed with respect to these modalities aimed to simulate daily living activities and also to evaluate the performance of the controller. The results prove the robot’s compliance modulation capability (which enables robot to work in divers modes span from stiff to compliant), robustness in presence of harsh interactions as well as the safety (including collision avoidance and dynamic stability). The last chapter is contributed to the role of the body of robot in the physical interaction.