Saturday, February 22, 2014

Implementing a Solution to the Accuracy/Robustness Dilemma in Accuracy/ Robustness Dilemma in Impedance Control

The seminar project, under supervision of Dr. Nikravesh.
Abstract - As a solution to this dilemma, an accurate and robust impedance control technique that was developed based on internal model control structure and time-delay estimation is derived: the former injects desired impedance and corrects modelling error, the latter estimates and compensates the nonlinear dynamics of robot manipulators.

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