<p>A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. One is based on the maximization of velocity (localoptimisation). This strategy is non-repeatable and cansometimes lead to kinematically unfavourable positions. In thesecond strategy, which is based on the maximization of staticlifting capacity (local optimisation), one of the degrees offreedom (the linear joint) is made a function of the toolcentre point position. The third strategy, which is based ondynamic programming (global optimization), calculates theshortest time that is possible for the tool centre point to gofrom one point to another point in the working area. The threestrategies are compared in a simulation study. The simulationsshow the necessary speed requirements for all joints whenperforming straight paths in the manipulator work area. Thesimulations also show the difference in time consumptionsbetween the three control algorithms and also what happens whenthe joints reach their maximum velocity limits.</p><p><strong>Keywords</strong>Manipulator, Kinematic Control, RedundantLanguage</p>

A kinematically redundant four degrees of freedommanipulator arm, a knuckle boom, is studied. Three joints arerevolute and one linear. Since only three degrees of freedomare needed for positioning, we have one redundant degree offreedom. Three different kinematic control strategies arestudied. One is based on the maximization of velocity (localoptimisation). This strategy is non-repeatable and cansometimes lead to kinematically unfavourable positions. In thesecond strategy, which is based on the maximization of staticlifting capacity (local optimisation), one of the degrees offreedom (the linear joint) is made a function of the toolcentre point position. The third strategy, which is based ondynamic programming (global optimization), calculates theshortest time that is possible for the tool centre point to gofrom one point to another point in the working area. The threestrategies are compared in a simulation study. The simulationsshow the necessary speed requirements for all joints whenperforming straight paths in the manipulator work area. Thesimulations also show the difference in time consumptionsbetween the three control algorithms and also what happens whenthe joints reach their maximum velocity limits. KeywordsManipulator, Kinematic Control, RedundantLanguage

[pt] Neste trabalho, apresenta-se diferentes esquemas de controle servovisuais para tarefas robóticas de colheita de fruta, na presença de incertezas paramétricas nos modelos do sistema. O primeiro esquema combina as abordagens de servovisão baseada em posição (PBVS) e servovisão baseada em imagem (IBVS) para realizar, respectivamente, a aproximação até a fruta e, em seguida, um ajuste fino para a colheita. O segundo esquema usa uma abordagem de servovisão híbrida (HVS) para realizar a tarefa de colheita completa, projetando uma lei de controle adequada que combina vetores de erro definidos no espaço operacional e no espaço da imagem. A fase de detecção utiliza um algoritmo baseado no espaço de cores OTHA e limiar da imagem Otsu para um rápido reconhecimento de frutos maduros em cenários complexos. Além disso, um método de detecção mais preciso emprega uma Rede Neural Convolucional Profunda (DCNN) pré-treinada baseada em uma versão Segnet minimizada para uma inferência rápida durante a execução da tarefa. A localização do objeto é realizada empregando uma técnica de triangulação de imagem, que combina os algoritmos SURF e RANSAC ou ORB e BF-Matcher para extrair a característica da imagem da fruta e associa-lo com o seu ponto correspondente na outra visualização. No entanto, como esses algoritmos exigem um elevado custo computacional para os requisitos da tarefa, um método de estimativa mais rápido utiliza o centróide da fruta e transformação homogênea para descobrir os pontos correspondentes. Finalmente, um esquema de controle em modos deslizantes (SMC) baseado em visão e uma função de monitoramento de comutação são empregados para lidar com incertezas nos parâmetros de calibração do sistema de câmera-robô. Nesse sentido, é possível garantir a estabilidade assintótica e a convergência do erro da característica da imagem, mesmo que o ângulo de desalinhamento, em torno do eixo z, entre os sistemas de coordenadas da câmera e do efetuador seja incerto. / [en] In this work, we present different eye-in-hand visual servoing control schemes applied to a robotic harvesting task of soft fruits in the presence of parametric uncertainties in the system models. The first scheme combines position-based visual servoing (PBVS) and image-based visual servoing (IBVS) approaches in order to perform respectively an approach phase to the fruit and then a fine tuning of the end-effector to harvest. The second scheme uses a hybrid visual servoing (HVS) approach to fulfill the complete harvesting task, by designing a suitable control law which combines error vectors defined in both the image and operational spaces. For detecting the fruits, an algorithm based on the combination of the OHTA color space and Otsu’s threshold method for a fast recognition of mature fruits in complex scenarios. In addition, a more accurate detection method employs a pre-trained deep encoder-decoder algorithm based on a minimized Segnet version for a fast and cheap inference during the task execution. The object localization is accomplished by employing an image triangulation technique, which combines the speeded-up-robust-features (SURF) and the-randomsample-consensus (RANSAC) or the Oriented FAST and Rotated BRIEF and the Brute-Force Matcher (BF-Matcher) algorithms to extract the fruit image feature and match it to its correspondent feature-point into the other view of the stereo camera. However, since these algorithms are computationally expensive for the task requirements, a faster estimation method uses the fruit centroid and a homogeneous transformation for discovering matching points. Finally, a vision-based sliding-mode-control scheme and a switching monitoring function are employed to cope with uncertainties in the calibration parameters of the camera-robot system. In this context, it is possible to guarantee the asymptotic stability and convergence of the image feature error, even if the misalignment angle, around the z-axis, between the camera and end-effector frames is uncertain. 3D computer simulations and preliminary experimental results, obtained with a Mitsubishi robot arm RV-2AJ carrying out a simple strawberry picking task, are included to illustrate the performance and effectiveness of the proposed control scheme.

To stay competitive internationally, the Swedish forestry sector must increase its productivity by 2 to 3% annually. There are a variety of ways in which productivity can be increased. One option is to develop remote-controlled or unmanned machines, thus reducing the need for operator intervention. Another option—and one that could be achieved sooner than full automation—would be to make some functions semi-automatic. Semi-automatic operation of the knuckle boom and felling head in particular would create “mini-breaks” for the operators, thereby reducing mental and physiological stress. It would also reduce training time and increase the productivity of a large proportion of operators. The objective of this thesis work has been to develop and evaluate algorithms for simplified boom control on forest machines. Algorithms for so called boom tip control, as well as automatic boom functions have been introduced. The algorithms solve the inverse kinematics of kinematically redundant knuckle booms while maximizing lifting capacity. The boom tip control was evaluated – first by means of a kinematic simulation and then in a dynamic forest machine simulator. The results show that boom tip control is an easier system to learn in comparison to conventional control, leading to savings in production due to shorter learning times and operators being able to reach full production sooner. Boom tip control also creates less mental strain than conventional control, which in the long run will reduce mental stress on operators of forest machines. The maximum lifting capacity algorithm was then developed further to enable TCP path-tracking, which was also implemented and evaluated in the simulator. An evaluation of the fidelity of the dynamic forest machine simulator was performed to ensure validity of the results achieved with the simplified boom control. The results from the study show that there is good fidelity between the forest machine simulator and a real forest machine, and that the results from simulations are reliable. It is also concluded that the simulator was a useful research tool for the studies performed in the context of this thesis work. The thesis had two overall objectives. The first was to provide the industry and forestry sector with usable and verified ideas and results in the area of automation. This has been accomplished with the implementation of a simplified boom control and semi-automation on a forwarder in a recently started joint venture between a hydraulic manufacturer, a forest machine manufacturer and a forest enterprise. The second objective was to strengthen the research and development links between the forestry sector and technical university research. This has been accomplished through the thesis work itself and by a number of courses, projects and Masters theses over the last three years. About 150 students in total have been studying forest machine technology in one way or the other. / QC 20100729

Cette thèse est consacrée à l'étude de la manipulation et de la coordination robotique à deux bras ayant pour objectif le développement d'une approche unifiée dont différentes tâches seront décrites dans le même formalisme. Afin de fournir un cadre théorique compact et rigoureux, les techniques présentées utilisent les quaternions duaux afin de représenter les différents aspects de la modélisation cinématique ainsi que de la commande.Une nouvelle représentation de la manipulation à deux bras est proposée - l'espace dual des tâches de coopération - laquelle exploite l'algèbre des quaternions duaux afin d'unifier les précédentes approches présentées dans la littérature. La méthode est étendue pour prendre en compte l'ensemble des chaînes cinématiques couplées incluant la simulation d'un manipulateur mobile.Une application originale de l'espace dual des tâches de coopération est développée afin de représenter de manière intuitive les tâches principales impliquées dans une collaboration homme-robot. Plusieurs expérimentations sont réalisées pour valider les techniques proposées. De plus, cette thèse propose une nouvelle classe de tâches d'interaction homme-robot dans laquelle le robot contrôle tout les aspects de la coordination. Ainsi, au-delà du contrôle de son propre bras, le robot contrôle le bras de l'humain par le biais de la stimulation électrique fonctionnelle (FES) dans le cadre d'applications d'interaction robot / personne handicapée.Grâce à cette approche générique développée tout au long de cette thèse, les outils théoriques qui en résultent sont compacts et capables de décrire et de contrôler un large éventail de tâches de manipulations robotiques complexes. / This thesis is devoted to the study of robotic two-arm coordination/manipulation from a unified perspective, and conceptually different bimanual tasks are thus described within the same formalism. In order to provide a consistent and compact theory, the techniques presented herein use dual quaternions to represent every single aspect of robot kinematic modeling and control.A novel representation for two-arm manipulation is proposed—the cooperative dual task-space—which exploits the dual quaternion algebra to unify the various approaches found in the literature. The method is further extended to take into account any serially coupled kinematic chain, and a case study is performed using a simulated mobile manipulator. An original application of the cooperative dual task-space is proposed to intuitively represent general human-robot collaboration (HRC) tasks, and several experiments were performed to validate the proposed techniques. Furthermore, the thesis proposes a novel class of HRC taskswherein the robot controls all the coordination aspects; that is, in addition to controlling its own arm, the robot controls the human arm by means of functional electrical stimulation (FES).Thanks to the holistic approach developed throughout the thesis, the resultant theory is compact, uses a small set of mathematical tools, and is capable of describing and controlling a broad range of robot manipulation tasks.

[EN] Nowadays, there are many electronic products that incorporate elements and features coming from the research in the field of mobile robotics. For instance, the well-known vacuum cleaning robot Roomba by iRobot, which belongs to the field of service robotics, one of the most active within the sector. There are also numerous autonomous robotic systems in industrial warehouses and plants. It is the case of Autonomous Guided Vehicles (AGVs), which are able to drive completely autonomously in very structured environments. Apart from industry and consumer electronics, within the automotive field there are some devices that give intelligence to the vehicle, derived in most cases from advances in mobile robotics. In fact, more and more often vehicles incorporate Advanced Driver Assistance Systems (ADAS), such as navigation control with automatic speed regulation, lane change and overtaking assistant, automatic parking or collision warning, among other features. However, despite all the advances there are some problems that remain unresolved and can be improved. Collisions and rollovers stand out among the most common accidents of vehicles with manual or autonomous driving. In fact, it is almost impossible to guarantee driving without accidents in unstructured environments where vehicles share the space with other moving agents, such as other vehicles and pedestrians. That is why searching for techniques to improve safety in intelligent vehicles, either autonomous or manual-assisted driving, is still a trending topic within the robotics community. This thesis focuses on the design of tools and techniques for planning and control of intelligent vehicles in order to improve safety and comfort. The dissertation is divided into two parts, the first one on autonomous driving and the second one on manual-assisted driving. The main link between them is the use of clothoids as mathematical formulation for both trajectory generation and collision detection. Among the problems solved the following stand out: obstacle avoidance, rollover avoidance and advanced driver assistance to avoid collisions with pedestrians. / [ES] En la actualidad se comercializan infinidad de productos de electrónica de consumo que incorporan elementos y características procedentes de avances en el sector de la robótica móvil. Por ejemplo, el conocido robot aspirador Roomba de la empresa iRobot, el cual pertenece al campo de la robótica de servicio, uno de los más activos en el sector. También hay numerosos sistemas robóticos autónomos en almacenes y plantas industriales. Es el caso de los vehículos autoguiados (AGVs), capaces de conducir de forma totalmente autónoma en entornos muy estructurados. Además de en la industria y en electrónica de consumo, dentro del campo de la automoción también existen dispositivos que dotan de cierta inteligencia al vehículo, derivados la mayoría de las veces de avances en robótica móvil. De hecho, cada vez con mayor frecuencia los vehículos incorporan sistemas avanzados de asistencia al conductor (ADAS por sus siglas en inglés), tales como control de navegación con regulación automática de velocidad, asistente de cambio de carril y adelantamiento, aparcamiento automático o aviso de colisión, entre otras prestaciones. No obstante, pese a todos los avances siguen existiendo problemas sin resolver y que pueden mejorarse. La colisión y el vuelco destacan entre los accidentes más comunes en vehículos con conducción tanto manual como autónoma. De hecho, la dificultad de conducir en entornos desestructurados compartiendo el espacio con otros agentes móviles, tales como coches o personas, hace casi imposible garantizar la conducción sin accidentes. Es por ello que la búsqueda de técnicas para mejorar la seguridad en vehículos inteligentes, ya sean de conducción autónoma o manual asistida, es un tema que siempre está en auge en la comunidad robótica. La presente tesis se centra en el diseño de herramientas y técnicas de planificación y control de vehículos inteligentes, para la mejora de la seguridad y el confort. La disertación se ha dividido en dos partes, la primera sobre conducción autónoma y la segunda sobre conducción manual asistida. El principal nexo de unión es el uso de clotoides como elemento de generación de trayectorias y detección de colisiones. Entre los problemas que se resuelven destacan la evitación de obstáculos, la evitación de vuelcos y la asistencia avanzada al conductor para evitar colisiones con peatones. / [CAT] En l'actualitat es comercialitzen infinitat de productes d'electrònica de consum que incorporen elements i característiques procedents d'avanços en el sector de la robòtica mòbil. Per exemple, el conegut robot aspirador Roomba de l'empresa iRobot, el qual pertany al camp de la robòtica de servici, un dels més actius en el sector. També hi ha nombrosos sistemes robòtics autònoms en magatzems i plantes industrials. És el cas dels vehicles autoguiats (AGVs), els quals són capaços de conduir de forma totalment autònoma en entorns molt estructurats. A més de en la indústria i en l'electrònica de consum, dins el camp de l'automoció també existeixen dispositius que doten al vehicle de certa intel·ligència, la majoria de les vegades derivats d'avanços en robòtica mòbil. De fet, cada vegada amb més freqüència els vehicles incorporen sistemes avançats d'assistència al conductor (ADAS per les sigles en anglés), com ara control de navegació amb regulació automàtica de velocitat, assistent de canvi de carril i avançament, aparcament automàtic o avís de col·lisió, entre altres prestacions. No obstant això, malgrat tots els avanços segueixen existint problemes sense resoldre i que poden millorar-se. La col·lisió i la bolcada destaquen entre els accidents més comuns en vehicles amb conducció tant manual com autònoma. De fet, la dificultat de conduir en entorns desestructurats compartint l'espai amb altres agents mòbils, tals com cotxes o persones, fa quasi impossible garantitzar la conducció sense accidents. És per això que la recerca de tècniques per millorar la seguretat en vehicles intel·ligents, ja siguen de conducció autònoma o manual assistida, és un tema que sempre està en auge a la comunitat robòtica. La present tesi es centra en el disseny d'eines i tècniques de planificació i control de vehicles intel·ligents, per a la millora de la seguretat i el confort. La dissertació s'ha dividit en dues parts, la primera sobre conducció autònoma i la segona sobre conducció manual assistida. El principal nexe d'unió és l'ús de clotoides com a element de generació de trajectòries i detecció de col·lisions. Entre els problemes que es resolen destaquen l'evitació d'obstacles, l'evitació de bolcades i l'assistència avançada al conductor per evitar col·lisions amb vianants. / Girbés Juan, V. (2016). Clothoid-based Planning and Control in Intelligent Vehicles (Autonomous and Manual-Assisted Driving) [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/65072 / TESIS