Contact task execution by robot with non-rigid fixation
This PhD project will research the following problem: how to use robots with a non-rigidly fixed chassis to perform contact tasks on a much larger workpiece that has been placed arbitrarily on the floor of a factory. Contact tasks, such as grinding, polishing, or welding, typically involve high-precision, high-contact-force hybrid force/position control. To perform contact tasks on large workpieces, one feasible approach is to use mobile robots. The mobile chassis extends the robot’s workspace, enabling it to cover large workpieces. However, the introduction of a mobile chassis also results in non-rigid fixation of the robot to the ground, leading to reduced positioning accuracy, and decreased overall rigidity and stability of the robot. My research will focus on exploring and addressing these issues.
Research challenges include precise localization between the mobile robot and the workpiece, optimization of hybrid force/position control, and specific challenges posed by certain contact tasks (e.g., vibrations in grinding tasks).
The project will be supervised by Professor Jonathan Roberts.
Associated Researchers