High-Precision Imitation Learning for Real-Time Robotic Control

In recent years, an increase in industrial robots in manufacturing has emerged. However, there are still possible safety issues and difficulty in specifying tasks for the robots to perform. The objective of this research project is to make a path planning system that uses demonstrations of how to perform a task to learn how to perform the task using techniques from the field of machine learning. These demonstrations will also show the robot how to move in the workspace safely and without entering collision with items in its surroundings.

Data-Driven Control of an Ultracompact Industrial Robot

In recent years, automation has become more accessible to small- and medium-sized businesses, leading to an increase in popularity of ultra-compact and easy-to-integrate industrial robot arms like Mecademic’s Meca500. However, because of their size constraints, it is harder for these robots to accurately follow a programmed path. This research project aims to improve the path-tracking performance of Mecademic’s Meca500 robot by fusing state-of-the-art machine learning techniques with modern control design techniques.

Optimization of a calibration procedure for Mecademic’s Meca500 robot arm

Mecademic manufactures the smallest and most precise six-axis robot arm. The repeatability of this robot is better than 0.005 mm, but like any industrial robot, the robot’s accuracy is far worse. The only practical way of improving the robot’s accuracy is to calibrate each individual robot.

High-Performance Control of an Ultra-Compact Industrial Robot Arm

In recent years, automation has become more accessible to small- and medium-sized businesses, leading to an increase in popularity of ultra-compact and easy-to-integrate industrial robot arms like Mecademic’s Meca500. However, because of their size constraints, it is harder for these robots to accurately follow a programmed path. This research project aims to improve the path-tracking performance of Mecademic’s Meca500 robot using more sophisticated simulation and control techniques than the ones employed in typical industrial robots.

Development of a calibration method for Mecademic’s Meca500 robot arm

Mecademic manufactures the smallest and most precise six-axis robot arm. The repeatability of this robot is better than 0.005 mm, but like any industrial robot, the robot’s accuracy is far worse. Although all robot parts are machined and assembled precisely, the only practical way of improving the robot’s accuracy is to calibrate each individual robot. While various methods for the calibration of six-axis robot arms have already been developed in the past, the proposed research project differs in several aspects.