Title: Quaternion based leader-follower robust tracking control of an industrial robot using an anthropomorphic arm
PI: Dr Harshal B. Oza
Project Duration: 3 years (2016-2019)
Funding Organisation: Science and Engineering Research Board (SERB), Department of Science and Technology (DST), Government of India.
Funding Amount: Rs. 30 Lakhs
Summary: This research project aims to develop a method to control an industrial robot remotely. The principal motivation of this project is on developing a safe technology for operators of industrial robots with the potential to develop solutions for hazardous area applications. The currently available technology in the area makes the task of the operator cumbersome when interacting with a robot via two or three-dimensional devices such as a joy-stick or teaching pendants. This project will make use of a dexterous wearable accessory as a leader that will generate the desired joint trajectories of the follower 6-degree of freedom robot. A task space control of the end effector of the follower robot will be achieved by utilizing quaternion based robot kinematics and dynamics.