Dr Alexandr Klimchik - 08/03/2023
Автор: University of Lincoln - School of Computer Science
Загружено: 2023-03-08
Просмотров: 76
Title: Robots in Contact operations: from technological process to Human-Robot Cooperation
Abstract: Robot-manipulators were designed to replace humans in the tedious repetitive tasks. Latter we came to an idea that they can be used for much wide spectrum of tasks, including contact operations and cooperation with a human. Both challenged robotic field. The first of them requires intensive accuracy improvement due to high compliance errors. The second one need advanced control strategies to ensure human safety yet performing the task efficiently. The most efficient way to tackle the first problem is to rely on stiffness modelling, estimate robot deviation in the technological task and compensate them in the control loop. Existing approaches have their pros and con, so to achieve desired performance it is required to use advantages of all existing approaches. In human-robot cooperation to design an appropriate reaction scenario we need to understand the nature of interaction and localise it. In the case of occasional robot interaction with a human we need to understand where collision happened and move robot from the human zone. While if robot performing task together with a human, we need to facilitate this interactions and control if interaction is going as it was expected. From another side if interaction happens from the technological task, we want to ensure robot positioning accuracy and reduce deviations from the target trajectory. These problems and potential solutions for a particular case study will be discussed during the seminar.
Bio: Alexandr Klimchik got a PhD mechanical engineering (robotics) from Ecole Central Nantes, France in 2011. His research career was started in 2006 as Research assistant at Belarusian State University of Informatics and Radioelectronics (Belarus).From 2008 to 2015 he was a Researcher and Postdoctoral Fellow at Ecole des Mines de Nantes, France (now IMT Atlantique) and was a member of robotic team in the Research Institute in Communications and Cybernetics of Nantes (IRCCyN, France, now LS2N). From 2015 to 2022 Dr. Klimchik worked at Innopolis University in the rank of Assistant and Associate Professor. He was the founder of national center of competence in Robotics and mechatronics, raised over €2 million for more than 20 research projects, led the group of 120 researchers and engineers. In 2022 Dr. Klimchik joint School of Computer Science at the University of Lincoln as Associate Professor in Robotics.
His research experience contains essential results in stiffness modelling, robot calibration and human-robot collaboration. During his research career, he focused on stiffness modelling of fully actuated, over-constrained and under constrained manipulators, dialled with control and error compensation for robots with direct and indirect feedback information. The obtained theoretical results applied to stiffness analysis of industrial robots of serial, quasi-serial and parallel architecture, medical robots, humanoid robots, cable-driven robots, and collaborative robots. These contributions were published in more than 150 scientific papers; 7 journal papers were among Top10 most cited articles in the leading journals during the year (MaMT, RCIM, FINEL). Two PhD students got their degrees under (co-)supervision of Alexandr Klimchik, 5 other candidates are going to present their thesis for the defence in 2023 in France, Russia, Kazakhstan and Iran.
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