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Extension of a Demonstrator for Human-Compatible Control Approaches by Admittance Control

Gübler, Alexander (2016):
Extension of a Demonstrator for Human-Compatible Control Approaches by Admittance Control.
Department of Computer Science (SIM), TU Darmstadt, [Bachelor Thesis]

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.

Item Type: Bachelor Thesis
Erschienen: 2016
Creators: Gübler, Alexander
Title: Extension of a Demonstrator for Human-Compatible Control Approaches by Admittance Control
Language: English
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.

Place of Publication: Department of Computer Science (SIM)
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 26 Jun 2019 07:50
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