[robotics-worldwide] Phd Position - High-speed vision-based control - Deadline 14/07/08
Andrew.Comport at lasmea.univ-bpclermont.fr
Tue Jul 8 01:22:26 PDT 2008
Dynamic control of parallel kinematic manipulators using high-speed vision
1 Context and motivation
This position is open within the Robotics and Autonomous Complex Systems
group (ROSACE), interested in the control of robotic systems. This group
is part of the "Laboratoire des Sciences et Matériaux pour
l’Electronique et d’Automatique" (LASMEA) in Clermont-Ferrand, France.
The scholarship is funded through the French research agency's (ANR)
”Young Researcher” project VIRAGO dealing with the vision-based control
(or visual servoing) of parallel kinematic manipulators.
Parallel kinematic manipulators, as opposed to serial kinematic
manipulators, are composed of a mobile platform linked to its base by
several kinematic chains. They thus allow for greater speed
manipulation, higher loads and higher repeatability than serial
kinematic manipulators. However, their control is made harder since one
has to take into account the closure of the various kinematic chains. A
way to by-pass much of the associated control difficulties is to perform
eye-to-hand based visual servoing since it alleviates the problem of
solving the theoretically hard forward kinematic problem. Nevertheless,
classic visual servoing is essentially a kinematic control scheme that
assumes sufficiently low speeds to neglect the dynamic eﬀects due to
inertia or Coriolis forces. This is not realistic in the case of
parallel kinematic manipulators designed for high-speed.
Therefore, we have been developing a formal framework for high-speed
vision-based computed torque control, where vision copes with the high
control frequencies and the control laws with the rigid body dynamics.
The approach has been validated on the Orthoglide prototype in Nantes and
accelerations of 1G were reached. The PhD candidate will have to extend
this framework to take into account ﬂexibilities that can not be avoided
at really high speed. In particular, the experimental validation will
take place on the new Adept Quattro robot which reaches 20G accelerations.
• Good mathematical background
• Good mechanical engineering background (multi-body dynamics, robot
• Basic knowledge in computer vision
• Programing skills
• Preferably ﬂuent French but ﬂuent English can be accepted
3 Important dates
Application deadline: July 14th, 2008.
Decision: July 21st, 2008
First working day: No later than September 1st, 2008.
4 Contact persons
Nicolas Andreﬀ, Name.Surname at lasmea.univ-bpclermont.fr
Phone: +(33) 4 73 40 52 56
Andrew Comport, Name.Surname at lasmea.univ-bpclermont.fr
Phone: +(33) 4 73 40 72 33
Dr. Andrew Comport
Robotics and Autonomous Complex Systems
Campus des Cézeaux
24 Avenue des Landais
63177 AUBIERE Cedex, FRANCE
Tel : (+33)22.214.171.124.33
Fax : (+33)126.96.36.199.62
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