Final colloquium Avinash Bhat

Title: Precise and safe control of dual manipulator systems

Supervisor: Manuel Mazo

Abstract: Robots have been used to automate repeatable tasks in industries for decades. With the rise of computing power, robots can now be used in a wider range of tasks involving finer motion control, even ones which involve sharing a workspace with humans. An example of this is using a dual arm robot for quality control, as was demonstrated by BMW with their RoboCT quality control system. However, such systems require guarantees of safety to demonstrate reliable operation. This thesis will delve into the question of how to compute and execute a motion plan for a dual manipulator setup while ensuring synchronized and collision-free motion.