Mobile Robotic Manipulator System for Large Structure Manufacturing

To realize the control of a mobile manipulator robotic system, composed of a mobile base and an attached robotic arm, for optimal position precision; simultaneous control of a mobile base and robot arm to supress disturbances; to develop closed loop visuo-control techniques for maximum precision. <img src="/sites/default/files/styles/medium/public/huskysuphi.jpg?itok=A7KM2pQq" width="220" height="146" alt="" class="image-medium" />
Description of the Project: 

Robotic manufacturing of large structures, such as ship building, require on-site and mobile robotic activities. A major problem with on-sire and mobile robotic platforms is to maintain the position precision in a task the robotic system is supposed to perform, typically in welding of large structures. Whereas most of the commercial robot arm manipulators have the required level of sub-millimetre precision, the mobile bases they are attached to lack this capability with only a level of precision in the order of centimetres. A simultaneous and coupled control of the robot arm and the base supported with a closed loop and multi-modal visuo-force-accelerometer-servoing might enable to preserve the precision of the robot arm in the tool movement, in the presence of less precise movements of and disturbances from the base. This project will explore these ideas, develop and implement robot control strategies, and demonstrate emulation of large structure welding in laboratory settings.  

Resources required: 
Requested from the project budget: -A welding setup (TIG or MIG welding). -Consumables (material for building emulation of large structures, metal pieces for welding, etc.) -Equipment repair costs (to be budgeted to the project). Available: -Husky mobile robot with two robot arms, force/torque sensors.
Project number: 
First Supervisor: 
Heriot-Watt University
Second Supervisor(s): 
First supervisor university: 
Heriot-Watt University
Essential skills and knowledge: 
Desirable skills and knowledge: 
Robotics, control, image processing.
Funding Available: 
  • Erden, M.S.  and Billard,  A., “Robotic assistance by impedance compensation for hand movements while manual welding”, IEEE Transactions on Cybernetics, 46 (11): 2459-2472, 2016.
  • Erden, M.S.  and Billard,  A., “Hand impedance measurements during interactive manual welding with a robot”, IEEE Transactions on Robotics, 31 (1): 168-179, 2015.
  • Erden, M.S. and Maric, B., “Assisting manual welding with robot”. Robotics and Computer Integrated Manufacturing, vol. 27: 818–828, 2011.
  • Erden, M.S.  and Tomiyama,  T.,  “Identifying welding skills for training and assistance with robot”. Science and Technology of Welding and Joining, vol. 14 (6): 523-532, 2009.