Marie worked in the Mechatronics, Robotics, and Operations Section for her Master’s Thesis project. She is affiliated with the University of Technology of Belfort-Montbéliard (UTBM).
During her internship, Marie has been involved in the study and redesign of a control solution for a dynamic system that integrates interferometric measurements with angular piezo actuation. Her contributions included extensive work on simulating the system and optimizing its control mechanisms using MATLAB. This involved developing models, running simulations, analyzing results, and refining the control algorithms to achieve the desired performance.
In the latter phase of her internship, Marie transitioned her focus to the exploration of an embedded control solution for the same system with Simulink toolboxes. This solution allows testing the developed piezo-goniometer control algorithms on a Xilinx-based testbench.
Teleoperation with haptic feedback is being explored at the European Organization for Nuclear Research (CERN) to enhance the precision and control of various robotic systems. Compared to teleoperation systems with only visual feedback, the inclusion of haptic feedback in the system, consisting of a leader and a follower device, provides operators with tactile sensations. This enhancement improves their ability to perform delicate and precise tasks.
This presentation provides an overview of three control algorithms for kinematically dissimilar leader/follower robotic systems (KDS): Position/Position Damping Injection, Position/Force Architecture, and Time Domain Passivity Approach (TDPA) with Position/Force Bilateral Controller. These algorithms operate in the time domain and world coordinates, offering robust and stable solutions for varying time delays through the concept of passivity.
Furthermore, these algorithms have been implemented as stand-alone controller submodules in the CERN Robotic Framework to ensure seamless integration. The theoretical effectiveness of these control strategies is demonstrated by simulations and experimental validations. The experimental validation has been carried out in the scope of the robotic systems designed for the Future Circular Collider (FCC). Most notably, these systems possess a redundant number of degrees of freedom (DoF) that can be exploited but introduce more challenges in the control architecture.