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Master Thesis Motion Control i Västerås

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Join ABB and work in a team that is dedicated to creating a future where innovative digital technologies allow greater access to cleaner energy.

Within ABB Robotics R&D Motion Control department we are proposing several Master thesis next spring. The Motion Control department are responsible for a wide range of areas within the robot controller development spanning from modeling, identification, control design and as well as optimization for path planning and numerous other motion control functionalities.

The subject fields where we are now proposing master thesis to be done are 1) combining AI and ML with simulation, 2) investigation and verification of a potential new “MoveOPT” instruction based of optimal trajectory computed through off-line optimization, 3) supervision of configuration parameters for industrial robots and 4) inertial measurement unit (IMU) as a tool for motion control. Are you a potential candidate for fitting in any of these interesting and challenging Master thesis subject fields then you are most welcome to apply!

Your responsibilities
  • The thesis work is independent, but you will be a part of an agile scrum team feeling the pulse of the daily work in the team.
  • You will have a dedicated supervisor helping you in the right direction and a lot of possibilities to influence the way forward as you see fit.
  • When taking Master thesis of Combining AI and ML with simulation you will project simulation tools with realistic robot and environment simulation is used in order to accelerate the learning in order to be able to perform a grasp and assembly task, for example of snap type. The solution should be performed in a simulated environment but if time permits the final learning and validation should be performed in real experiments. A major problem in learning from simulation is the uncertainties of the simulation models and how they are different from the real world. This thesis project should approach this and attempt to find strategies for mitigation.
  • When taking Master thesis of Investigation and verification of a potential new “MoveOPT” instruction based of optimal trajectory computed through off-line optimization you will set up an optimal trajectory planning problem using CASADI or similar (non-linear programming environments) for different robot models. The thesis should compare the optimal performance achieved with respect to what is possible to get today using traditional move instructions (MoveJ MoveL MoveC). The goal of the thesis is to have a good estimate of what is possible to achieve using a new “MoveOPT” instruction. Tests on the real robots should validate the results.
  • When taking Master thesis Supervision of configuration parameters for industrial robots you will investigate effective methods to verify if the dynamic parameters are correctly configured. Dynamic parameters of interest are for example: arm loads, payload, gravity vector, friction coefficients, etc. The method should be applicable to any robot model (serial or parallel kinematics) and should preferably perform on-line during the normal robot operations, without use of specific pre-designed movements. Machine learning techniques or constrained non-linear programming methods (CASADI, IP, SQP based routines, etc.) should be investigated.
  • When taking Master thesis Inertial measurement unit (IMU) as a tool for motion control you will investigate IMU:s and other similar sensors for next level motion control. As a first step, the sensors will be integrated in our developer toolbox. Using the integrated sensor, the student will then identify how using IMUs can benefit in model identification and/or in machine learning control (MLC). The benefit will be evaluated on physical robots and virtual systems.
  • You will live ABB’s core values of safety and integrity, which means taking responsibility for your own actions while caring for your colleagues, and the business.
Your background
  • Studying for a Master of Science, Engineering Physics, Electrical Engineering or Computer Science degree.
  • Strong interest in Control theory and optimization.
  • Sufficient knowledge of Matlab, C/C++ and real time embedded SW development.

Publicerad den

29-02-2024

Extra information

Status
Stängd
Ort
Västerås
Typ av kontrakt
Heltidsjobb (förstajobb)
Typ av jobb
Produktion / Industri
Körkort önskas
Nej
Tillgång till bil önskas
Nej
Personligt brev krävs
Nej

Västerås | Produktion / Industri | Heltidsjobb (förstajobb)