Design and Control of a Personal Assistant Robot Yang Qian To cite this version: Yang Qian. Design and Control of a Personal Assistant Robot. Other. Ecole Centrale de Lille, 2013. English. NNT : 2013ECLI0005. tel-00864692 HAL Id: tel-00864692 https://tel.archives-ouvertes.fr/tel-00864692 Submitted on 23 Sep 2013 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. N° d’ordre : 219 ECOLE CENTRALE DE LILLE THESE Présentée en vue d’obtenir le grade de DOCTEUR En Automatique, Génie Informatique, Traitement du Signal et Image Par QIAN Yang DOCTORAT DELIVRE PAR L’ECOLE CENTRALE DE LILLE Titre de la thèse : Conception et Commande d’un Robot d’Assistance à la Personne Design and Control of a Personal Assistant Robot Soutenue le 04 Juillet 2013 devant le jury d’examen : Président Saïd MAMMAR Professeur, Université d'Evry Val d'Essonne, Evry Rapporteur Nacer K.M’SIRDI Professeur, Polytech Marseille, Marseille Rapporteur Daniel SIDOBRE Maître de Conférences, HDR, Université Paul Sabatier, Toulouse Rapporteur Jianming YANG Professeur, Meijo University, Japon Membre Belkacem Ould Boumama Professeur, Polytech Lille, Lille Membre Qiang ZHAN Professeur, Beihang University, Chine Directeur de thèse Ahmed RAHMANI Maître de Conférences, HDR, Ecole Centrale de Lille, Lille Thèse préparée dans le Laboratoire d’Automatique, Génie Informatique et Signal L.A.G.I.S. - CNRS UMR 8219 - École Centrale de Lille Ecole Doctorale Sciences pour l’ingénieur ED 072 PRES Université Lille Nord-de-France À mes parents, à toute ma famille, à mes professeurs, et à mes chèr(e)s ami(e)s. Acknowledgements This work was carried out at “Laboratoire d’Automatique, Génie Informatique et Signal” (LAGIS) in Ecole Centrale de Lille with the research team “Méthodes & Outils pour la Conception Intégrée de Système” (MOCIS). I would like to express my gratitude to the people who have helped me in the successful completion of my doctoral study. Without their encouragement and help, I would not have arrived at this position and stage of my life. First of all, I would like to express my sincere gratitude to my PhD thesis supervisor Professor Ahmed RAHMANI who influenced me most during my years at Ecole Central de Lille. Professor Ahmed taught me how to look for new areas of research, how to understand the state of the art quickly, how to write good technical papers, and how to present my ideas effectively. I would also like to thank Professor Qiang ZHAN from Beihang University. He not only provided help with robot design, but also made many design related discussions with me during his visit to France. I would like to thank my reading committee members: Mr. Nacer K.M’SIRDI, Mr. Daniel SIDOBRE, Mr. Jianming YANG, Mr. Belkacem Ould Boumama and Mr. Saïd MAMMAR for their time, interest, and helpful comments. I wish to thank all staff at the team, Mrs. Geneviève Dauphin-Tanguy, Mr. Christophe Sueur…, for their valuable discussions and insightful suggestions in team meetings. A particular acknowledgement has to be made to all my PhD colleagues. I wish to thank Zhaoxia Peng, Guoguang Wen, Dapeng Yang, Jin Bai, Youwei Dong, Eugene Tarasov, Zhi Li, Yue Yu, Tian Zheng, Yongliang Huang, Baisi Liu, etc. And I also wish to thank the staff at Ecole, Chistine Yvoz, Brigitte Foncez, Patrick Gallais, Bernard Szukala and Vanessa Fleury for their kindly help during the past three years. Pursuing a PhD requires not only technical skill but also tremendous amount of stamina and courage. I would like to thank my parents for sharing their unconditional love with me and giving me the necessary amount of courage required for pursuing my goals at Ecole. 3 Finally, I wish to thank the China Scholarship Council (CSC), which gave me the opportunity to pursue my PhD study in Ecole Centrale de Lille. 4 Table of Contents ACKNOWLEDGEMENTS ....................................................................................................... 3 TABLE OF CONTENTS ........................................................................................................... 5 LIST OF TABLES ..................................................................................................................... 9 LIST OF FIGURES .................................................................................................................. 11 ABBREVIATIONS .................................................................................................................. 15 INTRODUCTION .................................................................................................................... 17 CHAPTER1 STATE OF THE ART AND PRELIMINARIES ........................................ 21 1.1 State of the Art in Personal Assistant Robotics ............................................ 21 1.2 Literature Survey .......................................................................................... 24 1.2.1 Review of Multi-body Computer Codes ...................................................... 24 1.2.2 Robot Structure ............................................................................................ 25 1.2.3 System Modeling .......................................................................................... 25 1.2.4 Motion Planning of Mobile Manipulator ..................................................... 27 1.2.5 Coordinated Control of Mobile Manipulator ............................................... 28 1.2.6 Force Control ................................................................................................ 31 1.2.7 Multi-Finger Manipulation ........................................................................... 33 1.3 Mathematics Background ............................................................................. 35 1.3.1 Introduction .................................................................................................. 35 1.3.2 Mathematical Preliminaries .......................................................................... 36 1.3.3 Review of Bond Graph Technique ............................................................... 39 1.3.4 Radial Basis Function Neural Network ........................................................ 41 1.3.5 Twist/Wrench ............................................................................................... 44 1.3.6 GL Matrix and Multiplication Operators ..................................................... 45 CHAPTER2 DEFINITION, DESIGN AND VIRTUAL PROTOTYPING ...................... 47 2.1 Robot Applications and Requirements ......................................................... 47 2.1.1 Introduction .................................................................................................. 47 2.1.2 Applications ................................................................................................. 47 2.1.3 Requirements ................................................................................................ 53 2.2 Mechanical Design and 3D Modeling .......................................................... 55 2.2.1 Introduction .................................................................................................. 55 5 2.2.1.1 Mechanical Structure .................................................................................... 55 2.2.1.2 Virtual Simulation Technology .................................................................... 56 2.2.2 Mechanical Design ....................................................................................... 57 2.2.2.1 Mechanical Configuration ............................................................................ 57 2.2.2.2 Joint Angle Range ........................................................................................ 59 2.2.3 Hardware and Control Architecture Design ................................................. 60 2.2.4 Virtual Prototyping ....................................................................................... 63 2.2.4.1 Solid Model Creation ................................................................................... 63 2.2.4.2 Virtual Prototype Development .................................................................... 64 2.2.4.3 Contact Modeling between Bodies in ADAMS ........................................... 68 2.2.4.4 Co-simulation Connection between ADAMS and Matlab/Simulink ........... 69 2.2.5 Workspace Computation .............................................................................. 71 CHAPTER3 MODELING OF DUAL-HAND MOBILE MANIPULATOR ................... 73 3.1 Mathematical Modeling ............................................................................... 73 3.1.1 Introduction .................................................................................................. 73 3.1.2 Kinematic Modeling ..................................................................................... 74 3.1.2.1 Mathematical Model of Differential Wheeled Platform .............................. 76 3.1.2.2 Forward Kinematics of Manipulator ............................................................ 77