comuto is developed by me and it is a simple and easy-to-use application that comes in handy for users who want to execute operations automatically. It also enables you to perform operations such as shutting down or restarting the system when the network or CPU usage is under a specified rate.With... [Read More]

An Optimal Control Approach to Robust Control of Robot Manipulators

The project of robust control course, under supervision of Dr. H.A Talebi. Abstract- We present an optimal control approach to robust control of robot manipulators.To guarantee the performance of the manipulator under uncertainties, we first translate the robustcontrol problem into an optimal control problem, where the uncertainties are reflected in... [Read More]

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... [Read More]