IRI Computational Robotics Laboratory
The Computational Robotics Laboratory was created to investigate the computational and implementation aspects that arise in the design, construction, and control of advanced robotic systems. Among these systems we can highlight parallel robots, anthropomorphic robotic arms, intelligent prostheses, biomechanical support systems for movement or rehabilitation, or other robots of various topology that, due to having sensory capacity and of sufficient adaptation, they can interact with humans in an agile and safe way.
The activity of the laboratory focuses on the analysis and construction of robotic prototypes to validate positional analysis algorithms, collision detection, characterization of the configuration space, calculation of singularities, obtaining workspaces, kinematics and direct or inverse dynamics, or planning and optimal control of trajectories.
Services it offers
- Computational kinematics. Problems of positional analysis, characterization of the space of configurations, calculation of singularities, and obtaining the working spaces of a complex mutisolid system. Continuation, pruning and bisection, or algebraic-geometric methods for solving these problems. Methods based on the geometry of distances. Applications to the positional analysis of biomolecules.
- Dynamic analysis and simulation: Methods for obtaining dynamic models of general multisolid systems. Algorithms for obtaining accurate simulations that can take into account the collisions of systems with their environment. Applications to robotic and biomechanical systems.
- Motion Planning: Algorithms for finding feasible motions between two given configurations of a multisolid system, taking into account the kinematic, dynamic, and non-collision constraints of the system, as well as the limited motor capacity, or boundaries imposed by the finite resistance of the manufacturing materials. Obtaining energetically efficient trajectories in order to achieve long periods of autonomy in these systems. Calculation of minimum time trajectories.
- Motion control: Control strategies that stabilize systems, either around a reference state, or along a planned trajectory. Optimal, nonlinear, and robust control techniques for multisolid systems with closed chains and singularities.
KYODIN+ project
Challenge:
Robotics is currently experiencing a shift in trend from specialized industrial robots, designed to perform routine repetitive operations, to lighter and more versatile robots, increasingly integrated into our daily lives, sharing our familiar environments and interacting with us. This change brings a new way of thinking about how robots should work. In an industrial environment, the tasks assigned to robots are perfectly defined and take place in a fully known and absolutely controlled environment. In this context, there is practically nothing left for improvisation. In contrast, a robot operating in a human context does not have an accurate model of the environment, which is only partially known and subject to unexpected changes. Since the situation is not known in advance, it is not possible to make a precise plan of the robot's actions, so a margin of action must be left so that the robot can react appropriately to the current situation, behaving safely and efficiently.
Solution:
In this project, we propose to formalize the concepts of agility and grace quantitatively and develop a trajectory optimizer capable of producing agile and graceful movements compatible with all the kinematic and dynamic restrictions of the robot; that is to say, avoiding collisions and respecting the limits and limitations of articulation in the forces that can be exerted by the actuators. Given an initial feasible trajectory, the optimizer must improve it according to the selected cost function while satisfying the constraints mentioned above. In particular, the proposed optimizer should be able to tackle tasks with (1) serial robots, (2) parallel robots and, in general, closed kinematic chains of any topology, and (3) fixed or mobile robots of any kind that manipulate an acquaintance. load, all of them in environments with or without gravity.
Equipment
- The prototyping workshop (or maker lab)
- Manipulator robots, parallel and mobile.
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