Gübler, Alexander (2016)
Extension of a Demonstrator for Human-Compatible Control Approaches by Admittance Control.
Technische Universität Darmstadt
Bachelorarbeit, Bibliographie
Kurzbeschreibung (Abstract)
For technical systems, which have to work near by or with humans, safety is important. Nowadays this systems have to be safe, but still to work accurate and efficient. To reach this conditions admittance control, which belongs to the field of compliant control, is an opportunity. This thesis deals with admittance control and how to implement this control approach. First different numerical integration methods are chosen and simulated, and then compared. After this step the best numerical integration is implemented on a demonstrator for human-compatible control approaches. This implementation is then validated. An interface for communication with the demonstrator is implemented.
| Typ des Eintrags: | Bachelorarbeit |
|---|---|
| Erschienen: | 2016 |
| Autor(en): | Gübler, Alexander |
| Art des Eintrags: | Bibliographie |
| Titel: | Extension of a Demonstrator for Human-Compatible Control Approaches by Admittance Control |
| Sprache: | Englisch |
| Publikationsjahr: | 2016 |
| Ort: | Department of Computer Science (SIM) |
| Kurzbeschreibung (Abstract): | For technical systems, which have to work near by or with humans, safety is important. Nowadays this systems have to be safe, but still to work accurate and efficient. To reach this conditions admittance control, which belongs to the field of compliant control, is an opportunity. This thesis deals with admittance control and how to implement this control approach. First different numerical integration methods are chosen and simulated, and then compared. After this step the best numerical integration is implemented on a demonstrator for human-compatible control approaches. This implementation is then validated. An interface for communication with the demonstrator is implemented. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 26 Jun 2019 07:50 |
| Letzte Änderung: | 26 Jun 2019 07:50 |
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