Modeling of closed chain systems and sensor based control of robot manipulators
In this talk, two subjects are studied, closed chain systems and sensor based control of robot manipulators. Closed chain systems are defined as two or more chains attached to a single movable platform. These system have several advantages over serial manipulators including increased stiffness, precision and load repartition. However, the additional closed loop constraint means advanced modeling and control strategies are required. This talk focuses on three such systems, cooperative serial manipulators grasping rigid object, cooperative serial manipulators grasping a deformable object and cable driven parallel robots. The second part of the talk focuses on sensor based robotic control. Sensor based control allows robot manipulators to interact with an unknown dynamic environment. Two applications are studied. In the first case, the separation of deformable bodies using multiple robots is investigated. Force/Vision control schemes are proposed that allow the system to adapt to on-line deformations of the target object. In the second case, we present sensor based control strategies that allow a robot to adapt its behavior to the presence of an human operator in the workspace.
Philip Long obtained a 1st class honours degree in mechanical engineering from the National University of Ireland Galway (NUIG) in 2007, followed by two years working as a mechanical engineering analyst at Xyratex Ltd Havant UK. From 2009-2011, he completed the EMARO program, a two year European research masters in advanced robotics in the University of Genova, Italy and Ecole Centrale de Nantes, France. He received his PhD, which focused on cooperative manipulators, from Ecole Centrale de Nantes in 2014. From 2014-2017 he worked as a robotics research engineer at the Jules Verne Institute of Technological Research (IRT JV). As technical lead of the collaborative robots division, he was responsible for the implementation of multi-modal control schemes for industrial partners. He is currently a postdoctoral researcher at the RIVeR lab at Northeastern University, where his research focuses on modeling and control of humanoid robots.