Loading Events

« All Events

  • This event has passed.

Kinematically Redundant Hybrid Parallel Robots for Physical Human-Robot Interaction

August 31, 2023 @ 3:00 pm - 4:30 pm

Controls, Robotics and Cybernetics Joint Chapter of IEEE Vancouver Section Title: Kinematically Redundant Hybrid Parallel Robots for Physical Human-Robot Interaction Speaker: Dr. Kefei Wen Date & Time: August 31st, 2023 at 3PM Pacific Time Place: Zoom and UBC Point Grey Campus Abstract: Robots that physically interact with humans are making their way into many applications like in manufacturing and healthcare. Many parallel robots are favourable candidates that can be used as physical human-robot interaction interfaces since the actuators are mounted on or close to the base, thereby reducing the inertia of the moving parts and ensuring backdrivability. However, the performance of such robots is limited by their relatively small rotational capabilities due to singularities within the workspace. In this talk, we present the kinematic analysis and motion control of a class of novel kinematically redundant hybrid parallel robots, where kinematic redundancy is utilised to completely alleviate singularities, resulting in a very large orientational workspace. Potential applications of this kind of robots in the context of physical human-robot interaction are then demonstrated through a prototype. Speaker(s): Kefei Wen Agenda: 3:00PM: Start and Introduction 3:10PM: Talk Discussion 4:30PM: Meeting ends Room: 3038 , Bldg: MacLeod Building , UBC Point Grey Campus , University of British Columbia , Vancouver , British Columbia, Canada, Virtual: https://events.vtools.ieee.org/m/366489