Welcome to the Intelligent Control Lab!
Our objective is to develop techniques for building perception-based control systems for robot manipulators that can work in industrial environments together with humans or operate safely in the vicinity of humans.
We investigate the above objective focusing on the physical platform, its dynamical properties and its control system in order to achieve better performance in the context of the respective application. As conventional control systems are processing only physical sensor-actuator signals, we aim in amending them with the higher level perception-action capability, which is based on abstract, non-mathematical type of information. In other words, we try to embed simple cognitive functionalities in the low-level control loops wherever possible or needed. Due to this approach, we also design techniques, components, mechanisms and robots that allow such effective integration to achieve the formulated objectives. Our work and expertise is concentrated in two major research directions:
Advanced Mechatronic Systems and Control:
We design, develop and prototype specific robotic constructions for performing dedicated stand-alone desktop operations or for mobile platform integration. Desired dynamic properties, balanced kinematics, minimum energy consumption, higher flexibility and compliance are combined for accomplishing maximum performance, for example in the case of redundant and hyper-redundant robots. Various interfacing and integration types of problems are conducted to achieve peculiar and unique system properties. We develop also methods to control standard industrial or designed at our lab robot manipulators for performing specific complex tasks like executing a motion for a guaranteed minimum time, visual servoing, combined position/ force/ torque control.
Our work is oriented to the industry - transfer of the advanced technologies developed in the lab to industry, for example visual monitoring and control of continuous flows, food industry automation, robotized welding, etc.
- Dimiter Driankov, Prof.
- Anani Ananiev, Assoc. Prof.
- George Fodor, Adj. Prof.
- Gion Koch Svedberg, Ass. Prof.
- Pontus Bergsten, Dr.