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Andrés Martín Barrio DESIGN, MODELLING, CONTROL AND TELEOPERATION OF HYPER- REDUNDANT ROBOTS. Andrés Martín Barrio 2020 Andrés Martín Barrio DIRECTOR DE LA TESIS DOCTORAL: Antonio Barrientos Cruz UNIVERSIDAD POLITÉCNICA DE MADRID ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES CENTRO DE AUTOMÁTICA Y ROBÓTICA DESIGN, MODELLING, CONTROL AND TELEOPERATION OF HYPER-REDUNDANT ROBOTS DOCTORAL THESIS Author: Director: MsC. Andrés Martín Barrio PhD. Antonio Barrientos Cruz 2020 TRIBUNAL Universidad Politécnica de Madrid Escuela Técnica Superior de Ingenieros Industriales Title: Design, Modelling, Control and Teleoperation of Hyper-Redundant Robots Author: Andrés Martín Barrio Director: Antonio Barrientos Cruz Tribunal nombrado por el Mgfco. Y Excmo. Sr. Rector de la Universidad Politécnica de Madrid el día …..de ……....de 2020. Presidente: Vocales: Secretario: Suplentes: Calificación de la Tésis: EL PRESIDENTE LOS VOCALES EL SECRETARIO Available evidence may be insufficient to determine the original causes. Acknowledgements En estos agradecimientos voy a escribir sin ataduras, porque sin apoyo, no habría lugar para esta tesis, y porque sin emoción tampoco existiría la ciencia. En primer lugar, me gustaría dar las gracias a Antonio Barrientos, mi Profesor de máster y de mi tesis doctoral por su dedicación y por la confianza que ha depositado en mí. Gracias por sacar mi mejor versión a nivel profesional, por tu contagiosa pasión por la robótica, por enseñarme a no juzgar más que con rigor, por buscarme a la hora de participar en proyectos, por tus precisos y valiosos consejos, y por todo lo que he aprendido de ti a nivel personal y profesional en los últimos 5 años. Me siento orgulloso de tenerte como referente y espero haber sido digno de tu enseñanza. También, quería mencionar a mi grupo de investigación. Jaime, gracias por tu ayuda, por tus consejos, por valorar mi tesis y por todo lo que he aprendido de ti. Silvia, qué decirte, si lo has vivido todo junto a mí; grazie por tu pazienza, por tu generosità, por las risas y por haber sabido aguantarme en los momentos difíciles. Juanje, gracias por tu disposición a ayudarme siempre que te lo he pedido, por acompañarme en mis divagaciones, por los partidos de tenis y por dejarme entrar en las realidades virtuales; en esas, siempre podrás dominar el mundo. Pablo, de la misma manera, gracias por tu ayuda desinteresada y por tu apoyo, por ponerme en cintura con tu sinceridad y por tu compañía mientras trabajamos. Igualmente, gracias a Mario por tu profesionalidad y por el tiempo que me has dedicado, Christyan por ayudarme desinteresadamente, y también a Jorge por tu compañía en situaciones de auxilio. También quiero acordarme de Carlos, Rosa y Paloma por haberme hecho sentir como en casa. Por otro lado, mi especial mención al resto de profesores, compañeros de doctorado y técnicos de laboratorio que me hayan acompañado en esta etapa dentro de la Universidad Politécnica de Madrid. Helmut, thank you very much for offering me the possibility to work with you in Bristol. You made me feel like home and gave me the best resources and ideas to finish this thesis. Also, to the researchers of the Bristol Robotics Laboratory and especially to Euan and Hatem. Esta tesis ha sido resultado de la colaboración conjunta, tanto directa como indirecta, de mis alumnos de Trabajo Fin de Grado y Máster: Álvaro Vara Mateos, Javier Martín García, Manuel Faysse, Montserrat Díaz-Carrasco Díaz, Jesús Pareja Muñoz, David Gutiérrez Vivas, David Ramos Porres, Silvia Jiménez Gómez, Agustín Ramírez Blanco, Laura Bachiller Matallana, Roberto Abia Carrasco, Adrián Barra Durán y Antonio del Abril Mur. Y especialmente a Cecilia Martínez Martín, por ANDRÉS MARTÍN BARRIO I acordarse siempre de mí y haberme abierto las puertas de una nueva etapa en mi vida. Gracias a todos vosotros. Con esta tesis, culmino 27 años incansables de estudio. Por lo tanto, quiero acordarme de todos los profesores apasionados tanto en el colegio como en la universidad que han dejado una huella en mí desde pequeño. Y también de todos los compañeros que, de una manera u otra, intentaron minarme hace ya mucho tiempo. Hoy soy mejor gracias a todos vosotros. A mis amigos: Alber, gracias por haber estado conmigo desde que tengo memoria; Sergio, gracias por estar pendiente de mis avances y preocuparte siempre por mí; Javi, en esta tesis sale Moira si buscas bien, gracias por saber escucharme y comprenderme; Velázquez, muchas gracias por tu sinceridad, te dedico este gusiluz; Paco, gracias por tu apoyo siempre; Yari, gracias por saber escucharme y preocuparte por mí; James, unconditional incorporation, thank you for being so supportive and always sticking up for me; Eric, cuenta con uno de estos robots para la policía; Guillermo y Vicky, gracias por haberme acogido como parte de vuestra familia; y a Alex., Elena, María, Rul, Dani, Sandra, Leo, Miki, por haber formado parte de este periodo de mi vida. Para finalizar, quiero dedicar este trabajo a mi familia. Mamá, si estoy aquí es gracias a ti. Gracias por dármelo todo, por enseñarme a vivir, y a sobrevivir, por tu cariño incondicional, por ser luz en mis oscuridades y por ser el mejor modelo a seguir. Papá, si algo me diferencia de los demás, es que me apasiona lo que hago, y eso lo he aprendido de ti. Gracias por enseñarme la importancia del trabajo duro desde la pasión, y sin concesiones. Abel, hermano, gracias por estar siempre de mi lado y por acompañarme en mis éxitos. Por último, también a todos los demás que, bien estéis conmigo o bien ya no pueda veros, espero que me miréis con el mismo orgullo que tengo yo de teneros a vosotros. A mis tías y tíos: Matilde, Mª Ángeles, Mª Eugenia, Carmen, Nadim, José Luís y Javier, por quererme y cuidarme como a un hijo; a mis primas y primos: Santiago, Ángel, Luis, Enita, Pablo y Clara, por formar parte de mis recuerdos más felices; a los pequeños: Ángela, Julia, June, Mateo y Alonso, por representar lo mejor de lo que está por llegar; y a mis abuelos: Santiago, Mª Ángeles, Teo y Pepe, por ser inmortales en mi memoria y por plantar la semilla que hoy me ha permitido confeccionarme en la persona que siempre he querido ser. A todos vosotros os dedico esta tesis doctoral. II UNIVERSIDAD POLITÉCNICA DE MADRID Abstract This work studies highly-articulated robots, specifically those manipulators that are hyper- redundant, continuous, and soft. These devices are well-known for being fault-tolerant or having better kinematic skills to avoid obstacles and move in unstructured spaces, compared to traditional ones. However, they face multiple engineering challenges that are acknowledged in this document; from their design, modelling process and control, to their teleoperation. Therefore, this work firstly proposes a new mathematical definition for these robots and a novel classification. An updated state- of-the-art also grants a complete overview based on a rigorous scientific method. Different design ideas are provided to construct these robots, in which finding a compromise between different requirements is essential. In addition, multiple strategies are applied to predict their movements, specifically for continuous and soft robots. These include the real-time Finite Element Method which stands out to be the most promising, flexible, accurate, efficient and complete tool. Moreover, two novel control algorithms are originally introduced: the Natural-CCD and SCD methods. They are based on very simple principles to efficiently and flexibly customize the control of highly-articulated mechanisms including discrete, continuous, soft, growing, cooperative and even branching structures. These algorithms are designed to solve different control strategies like the inverse kinematics, following of trajectories, shape and follow-the-leader controls or motion planning with obstacle avoidance. Interestingly, a set of primal behaviours were also found based on the kinematics of these robots, constituting a new perspective to control their movements. Finally, disruptive immersive technologies and natural language tools were found to be the best suited to teleoperate these complex manipulators in terms of situational awareness and objective efficiency. In summary, highly-articulated robots are quite challenging but they are expected to play a very important role in the future to come. ANDRÉS MARTÍN BARRIO III Resumen Este trabajo estudia a robots muy articulados, específicamente aquellos que son hiper-redundantes, continuos y blandos. Estos dispositivos son conocidos por ser tolerantes a fallos o presentar mejores habilidades cinemáticas que los robots tradicionales para evitar obstáculos o para moverse en entornos desestructurados. Sin embargo, también presentan múltiples retos a nivel de ingeniería que se analizarán en este documento; desde su diseño, modelado y control, hasta su teleoperación. Por lo tanto, este trabajo primero propone una nueva definición matemática para estos robots, así como una clasificación actualizada. También, se proporciona un estado del arte actualizado para dar una visión integradora basada en un riguroso método científico. Seguidamente, diferentes ideas de diseño han sido propuestas para construir estos robots, en los que habitualmente es esencial encontrar un compromiso entre diferentes requerimientos. Asimismo, se han aplicado múltiples estrategias para predecir sus movimientos, específicamente para aquellos robots continuos y blandos. Por ejemplo, se ha usado el Método de Elementos Finitos en tiempo real, que destaca por ser la herramienta más prometedora, flexible, precisa, eficiente y completa. También, dos nuevos algoritmos de control han sido originalmente propuestos: el Natural-CCD y SCD. Están basados en principios muy básicos capaces de controlar y personalizar de una forma eficiente y flexible el control de estos mecanismos, entre los que se incluyen aquellos discretos, continuos, blandos, extensibles, cooperativos e incluso arborescentes. Estos algoritmos han sido diseñados para dar solución a diferentes estrategias de control como la cinemática inversa, el seguimiento de trayectorias, controles basados en forma o en el seguimiento de un líder, e incluso para planificación de movimientos y evasión de obstáculos.
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