The thesis deal with programing of algorithm for creating measuring box composed of measuring points. Coordinates of these points will be used for planing trajectory of the robot’s effector. It describes construction of structural model in Solid Works and calculate dynamic model by matrix formalism in MATLAB. In conslusion dynamic model of positioning system is used for the choice of appropriate motors.

The diploma thesis deals with the structural design of the end effector for handling with the glass stopper of the hydrogen reactor of high temperature semiconductor diffusion furnace. The work includes the summary of information about semiconductor diffusion furnace, the choice of the appropriate industrial robot, the design of the end effector structural solution, the design of its supporting structure, the power and strength calculation, the design of the end effector control and economic evaluation of its production. The 3D model together with 2D production documentation which contains the assembly drawing of the individual parts of end effector was created on the basis of the end effector design.

Au cours de la dernière décennie, l’industrie des véhicules aériens sans pilote (UAV) a connu une croissance et une diversification immenses. De nos jours, nous trouvons des applications basées sur les drones dans un large éventail d’industries, telles que les infrastructures, l’agriculture, les transports, etc. Ce phénomène a suscité un intérêt croissant dans le domaine de la manipulation aérienne. La mise en œuvre de manipulateurs aériens dans l'industrie des UAV pourrait générer une augmentation significative du nombre d'applications possibles. Cependant, la restriction de la charge utile disponible est l’un des principaux inconvénients de cette approche. L'impossibilité d'équiper les drones de bras robotiques industriels puissants et habiles a suscité l'intérêt pour le développement de manipulateurs légers adaptés à ces applications. Dans le but de fournir une solution légère alternative aux manipulateurs aériens, cette thèse propose un bras robotique léger actionné par des fils en alliage à mémoire de forme (SMA). Bien que les fils SMA représentent une excellente alternative aux actionneurs conventionnels pour les applications légères, ils impliquent également une dynamique hautement non linéaire, ce qui les rend difficiles à contrôler. Cherchant à présenter une solution pour la tâche difficile de contrôler les fils SMA, ce travail étudie les conséquences et les avantages de la mise en œuvre des techniques de commande par retour d’état. L'objectif final de cette étude est la mise en œuvre expérimentale d'un contrôle à rétroaction d'état pour la régulation de la position du bras robotique léger proposé. Tout d'abord, un modèle mathématique basé sur un modèle physique du comportement des câbles SMA est développé et validé expérimentalement. Ce modèle décrit la dynamique du bras robotique léger proposé du point de vue de la mécatronique. Le bras robotique proposé est testé avec trois contrôleurs de retour de sortie pour le contrôle de position angulaire, à savoir un PID, un mode coulissant et une commande adaptative. Les contrôleurs sont testés dans une simulation MATLAB, puis mis en œuvre et testés expérimentalement selon différents scénarios. Ensuite, afin de réaliser la mise en œuvre expérimentale d’une technique de commande par retour d’état, un observateur d’état, à entrée inconnue, est développé. Premièrement, un modèle observable sans commutation avec une entrée inconnue est dérivé du modèle présenté précédemment. Ce modèle prend comme entrée inconnue le taux de fraction de martensite du modèle d'origine, ce qui permet d'éliminer les termes de commutation dans le modèle. Ensuite, un observateur, à entrées inconnues, basé sur le filtre de Kalman étendu et sur l’observateur à mode glissant est développé. Cet observateur permet l’estimation simultanée de l’état et des entrées inconnues. Les conditions suffisantes de convergence et de stabilité sont établies. L'observateur est testé dans une simulation MATLAB et validé expérimentalement dans différents scénarios. Enfin, une technique de commande par retour d’état est testée en simulation et implémentée de manière expérimentale pour le contrôle de position angulaire du bras robotique léger proposé. Elle est basée sur la résolution d’une équation de Riccati (SDRE). En conclusion, une analyse comparative quantitative et qualitative entre une approche de commande par retour de sortie et la une de commande par retour d’état mis en œuvre est effectuée selon plusieurs scénarios, y compris la régulation de position, le suivi de position et le suivi de charges utiles changeantes. / In the last decade, the industry of Unmanned Aerial Vehicles (UAV) has gone through immense growth and diversification. Nowadays, we find drone based applications in a wide range of industries, such as infrastructure, agriculture, transport, among others. This phenomenon has generated an increasing interest in the field of aerial manipulation. The implementation of aerial manipulators in the UAV industry could generate a significant increase in possible applications. However, the restriction on available payload is one of the main setbacks of this approach. The impossibility to equip UAVs with heavy dexterous industrial robotic arms has driven the interest in the development of lightweight manipulators suitable for these applications. In the pursuit of providing an alternative lightweight solution for the aerial manipulators, this thesis proposes a lightweight robotic arm actuated by Shape Memory Alloy (SMA) wires. Although SMA wires represent a great alternative to conventional actuators for lightweight applications, they also imply highly nonlinear dynamics, which makes them difficult to control. Seeking to present a solution for the challenging task of controlling SMA wires, this work investigates the implications and advantages of the implementation of state feedback control techniques. The final aim of this study is the experimental implementation of a state feedback control for position regulation of the proposed lightweight robotic arm. Firstly, a mathematical model based on a constitutive model of the SMA wire is developed and experimentally validated. This model describes the dynamics of the proposed lightweight robotic arm from a mechatronics perspective. The proposed robotic arm is tested with three output feedback controllers for angular position control, namely a PID, a Sliding Mode and an Adaptive Controller. The controllers are tested in a MATLAB simulation and finally implemented and experimentally tested in various different scenarios. Following, in order to perform the experimental implementation of a state feedback control technique, a state and unknown input observer is developed. First, a non-switching observable model with unknown input of the proposed robotic arm is derived from the model previously presented. This model takes the martensite fraction rate of the original model as an unknown input, making it possible to eliminate the switching terms in the model. Then, a state and unknown input observer is proposed. This observer is based on the Extended Kalman Filter (EKF) for state estimation and sliding mode approach for unknown input estimation. Sufficient conditions for stability and convergence are established. The observer is tested in a MATLAB simulation and experimentally validated in various different scenarios. Finally, a state feedback control technique is tested in simulation and experimentally implemented for angular position control of the proposed lightweight robotic arm. Specifically, continuous and discrete-time State-Dependent Riccati Equation (SDRE) control laws are derived and implemented. To conclude, a quantitative and qualitative comparative analysis between an output feedback control approach and the implemented state feedback control is carried out under multiple scenarios, including position regulation, position tracking and tracking with changing payloads.

In dieser Arbeit wurde der Einsatz eines miniaturisierten Endoskop-Manipulator-Systems (EMS [TUM, MiMed, München]) in der endo- und transnasalen Chirurgie untersucht. In einem Modellversuch wurden an einem Nasennebenhöhlenmodell drei typische anatomische Landmarken je einmal manuell und zum Vergleich mit dem Endoskopmanipulator aufgesucht. Insgesamt wurden 240 Messwerte aufgenommen. Es wurden die benötigten Zeiten und die Genauigkeit der Endoskopposition gemessen. Grundlage des klinischen Versuchsteils war es, 31 funktionelle Nasennebenhöhleneingriffe durchzuführen. Dabei wurden die gewählten Endoskoppositionen, die Wechsel der Endoskoppositionen und die konzeptionsbedingten Unterbrechungen erfasst. Als Ausblick für eine Anwendung des EMS bei Operationen erhöhten Schwierigkeitsgrades wurde im Rahmen eines Kadaver-Versuches ein endoskopischer Zugang zur Hypophyse mit dem EMS erprobt. Es konnte weder im Laborversuch noch im klinischen Versuchsteil eine Unterlegenheit beim Einsatz des EMS bezüglich der Dauer und der Genauigkeit der assistierten Endoskopführung festgestellt werden. Die Anzahl der Positionswechsel lag durchschnittlich bei 6,4 pro Seite. Eine beidhändige Instrumentation war in allen untersuchten Fällen möglich, mit Ausnahme von Bereichen mit Hochrisikostruktu-ren (Lamina papyracea, Recessus frontalis), in welchen der Operateur aus Sicherheitsgründen auf eine manuelle Endoskopführung umstellte. Das untersuchte EMS wurde erfolgreich in den chirurgischen Workflow der endo- und transnasalen Chirurgie integriert, wobei die geringe Anzahl der Endoskoppositionswechsel eine beidhändige Instrumentation ermöglichte. Als Entwicklungspotenzial kann die Ergänzung der Joystickkonsole um eine Force-Feedback-Funktion bzw. die Möglichkeit einer rein navigiert-kontrollierten Steuerung hervorgehoben werden. Damit wird die Häufigkeit einer Unterbrechung des Workflows für die händische Steuerung über die Joystickkonsole minimiert.

付記する学位プログラム名: デザイン学大学院連携プログラム / 京都大学 / 0048 / 新制・課程博士 / 博士(工学) / 甲第21759号 / 工博第4576号 / 新制||工||1713(附属図書館) / 京都大学大学院工学研究科機械理工学専攻 / (主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴 / 学位規則第4条第1項該当 / Doctor of Philosophy (Engineering) / Kyoto University / DFAM

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Robot arms require actuators that are powerful, precise and safe. The safety concern is amplified when these robots work closely with people in collaborative applications. This thesis investigates the design and implementation of hybrid pneumatic-electric actuators (HPEA) for use in robot arms, particularly those intended for collaborative applications. The initial focus was on improving the control of an existing single HPEA-driven rotary joint. The torque is produced by four pneumatic cylinders connected in parallel with a small DC motor. The DC motor is directly connected to the output shaft. A cascaded control system is designed that consists of an outer position control loop and an inner pressure control loop. The pressure controller is based on a novel inverse valve model. High precision position tracking control is achieved due to the combination of the model-based pressure controller, model-based position controller, adaptive friction compensator and offline payload estimator. Experiments are performed with the actuator prototype rotating a link and payload with a rotational inertia equivalent to a linear actuator moving a 573 kg mass. Averaged over five tests, a root-mean-square error of 0.024° and a steady-state error (SSE) of 0.0045° are achieved for a fast multi-cycloidal trajectory. This SSE is almost ten times smaller than the best value reported for previous HPEAs. An offline payload estimation algorithm is used to improve the control system’s robustness. The superior safety of the HPEA is shown by modeling and simulating a constrained robot-head impact, and comparing the result with equivalent electric and pneumatic actuators. This research produced two journal papers. Since HPEAs are redundant actuators that combine the large force, low bandwidth characteristics of pneumatic actuators with the large bandwidth, small force characteristics of electric actuators, the effect of using optimization-based input allocation for HPEAs was studied. The goal was to improve the HPEA’s performance by distributing the required input (force or torque) between the redundant actuators in accordance with each actuator’s advantages and limitations. Three novel model-predictive control (MPC) approaches are designed to solve the position tracking and input allocation problems using convex optimization. The approaches are simulated on a HPEA-driven system and compared to a conventional linear controller without active input allocation. The first MPC approach uses a model that includes the dynamics of the payload and pneumatics; and performs the motion control using a single loop. The latter methods simplify the MPC law by separating the position and pressure controllers. Although the linear controller is the most computationally efficient, it is inferior to the MPC-based controllers in position tracking and force allocation performance. The third MPC-based controller design demonstrated the best position tracking with root mean square errors of 46%, 20%, and 55% smaller than the other three approaches. It also demonstrated sufficient speed for real-time operation. This research produced one journal paper. The research continued with the design and implementation of a two degree-of-freedom HPEA-driven arm. A HPEA-driven “elbow” joint is designed and added to the existing “shoulder” joint. The force from a single pneumatic cylinder is converted into torque using a 4-bar linkage. To eliminate backlash and keep the weight of the arm low, a 2nd smaller DC motor is directly connected to the joint. The kinematic and kinetic models of the new arm, as well as the geometry of the new elbow joint are studied. The resulting joint design is implemented, tested and controlled. This joint could achieve a SSE of 0.0045° in spite of its nonlinear joint geometry. The arm is experimentally tested for simultaneous tracking control of the two joints, and for end-effector position tracking in Cartesian space. The end-effector is able to follow a circular trajectory in pneumatic mode with position errors below 0.005 m. / Thesis / Doctor of Philosophy (PhD) / Robots that work with, or near, humans require greater safety considerations than other robots. A significant concern is collisions between the robot and humans that may happen when sensors or software fails. An actuator for robots that combines the inherent safety of pneumatic actuators with the accuracy of electric actuators, termed a “hybrid pneumatic electric actuator” (HPEA), is investigated. The design, instrumentation, modelling, and control of HPEAs are studied theoretically and experimentally. The proposed actuator could achieve high position control accuracy in a variety of experiments, with steady state error of less than 0.0045 degrees. Simulated impacts with a human head also showed that a HPEA-driven robot arm can achieve a 52% lower impact force, compared to an arm driven by conventional electric actuators. The HPEA design and control experiments are performed on a single HPEA-driven joint and extended to an arm consisting of two HPEA-driven revolute joints.

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The thesis deals with the problem of large-capacity manipulation of large forgings with forging manipulator. It describes current techniques, their characteristics, advantages and disadvantages. Based on the analysis of these techniques, the thesis introduces design of the connection of the hydraulic circuit for the drive of the traveling traction wheels of the forging manipulator QKK 100 by ŽĎAS a.s. focusing on simplicity, trouble-free operation, efficiency, economy, change of speed and torque, and possibility of modification according to the current load.