LAB PROJECTS

Development Service of Systemic Control Algorithm for Development of Safety Guidelines for Mobile Cooperative Robot Workshop

•  Goal of This Project

1. Although it is a safe enough cooperative robot, there is no difference from the function of a fixed cooperative robot because the cooperative robot attached to the mobile robot cannot be operated while on the move. Therefore, there is a problem that the efficiency of use is significantly reduced by applying the same regulations as industrial robots for work during the installation and movement of the robot.

2. Although mobile cooperative robots must perform tasks on the move, such as transportation between processes and intermediate work, collaboration between workers and mobile cooperative robots in logistics warehouses, and collaboration of many cooperative robots, existing regulations prohibit the operation of these robots.

3. The purpose is to increase the utilization of robots through the development of a whole-body control algorithm for mobile cooperative robots and to improve work efficiency when operating in the workplace

4. In addition, implementing a simulator with a control algorithm, it is intended to be used to analyze risk factors between workers and robots and to review the work efficiency of mobile cooperative robots when developing workplace safety guidelines for mobile cooperative robots.

•  Project Contents

Development of Mechanical Models for Mobile Cooperative Robots

• Conducting mechanical modeling of the mobile cooperative-provided robots

• Verification of results of mechanical modeling through simulation

When developing a mechanical model, an integrated mechanical model was developed based on instrumental information of cooperative robots and mobile robots (6 degrees of freedom cooperative robots, 3 degrees of freedom mobile robots).
Additional mathematical modeling was included when Jacobian or inverse mechanical analysis was required in the development of the Whole Body control algorithm

Development of Whole-body Control Algorithm for Mobile Cooperative Robots

• Development of a location-based Whole Body control algorithm model.

• Deriving Control Inputs for Whole Body Control of Mobile and Cooperative Robots.

• Development of a Foldbody Control Algorithm Considering Singularity in the Work Area.

Implementation of a Mobile Cooperative Robot Simulator with Whole-body Control Algorithm

• Apply the whole-body control algorithm of the mobile cooperative robot to the simulator provided (Simulator provided after contract)

• Development of 2 examples of applying the whole-body control algorithm

Implementation and Test Evaluation of Algorithms for Mobile Manipulators 

•  Goal of This Project

This project aims to control a dual-arm robot that shares a workspace in a confined area, ensuring that the two arms do not collide with each other while efficiently performing their respective tasks.

• Project Contents

Hybrid planner

• Development of local planner using Nonlinear Model Predictive Controller

• Using Trajopt algorithm as global planner

• Combining global and local planners to implement hybrid planners that can be applied to dual-arm robots

• Employing a Control Barrier Function to Prevent Collisions with the Opposite UR20

Dual-arm control using hybrid planner

The robot's left arm was designated as the main arm and the right arm as the sub-arm. To test effective collision avoidance, global planning was applied to the left arm, while hybrid planning was applied to the right arm. The results showed that the right arm successfully avoided the left arm and conducted the task