I graduated with a master’s degree in cybernetics in 2013 and immediately continued on a PhD at NTNU AMOS, Center for Autonomous Marine Operations and Systems, and in 2016 I completed my thesis “Guidance and Control of Robot Manipulators and Autonomous Marine Robots”. Soon thereafter I was officially a part of the SFI Manufacturing researcher team.
Set-based control of robotic systems
One of the main contributions of my PhD was the development of a control framework for robotic systems allowing us to define and control set-based tasks. Instead of telling a robot exactly what to do, we define a valid interval of states and ensure that our robot stays within these limits. This results in a system with more option on to perform its tasks, and opens up for a more efficient control structure. Furthermore, the framework is completely general and may therefore be applied to numerous applications.
One possible task that is highly relevant for manufacturing purposes is directional control of robots, something which may be used to decrease operation time and/or energy consumption for instance in autonomous spray painting, welding and cleaning operations.
Another highly relevant task for any robotic system is collision avoidance, which is crucial to ensure safe and efficient operations. The set-based control framework may also be applied to this end, where the valid interval of the set-based task is defined as the set of safe distances between the robot and any obstacle.
As part of my postdoctoral fellowship I am a co-supervisor to PhD-candidate Linn Danielsen Evjemo, who will work on 3D-printing by the use of robots. This will enable printing of larger objects in a much more versatile manner, as 3D-printing is currently performed in closed chambers in a strictly layer wise, horizontal routine. Robotic manipulators have a larger range and several additional degrees of freedom with regards to orientation control. Together, Linn and I have run initial, small-scale experiments as a proof of concept, where we used a small manipulator and a caulking gun to print a small cup.