Controller design for a robot arm

This project concerns controller design for the Cyton Gamma 7DOF robot arm available in our group. This being a mechanical system, modeling will commence from the Euler-Lagrange equations, leading to a TS model in descriptor form. For the sake of simplicity of the controller implementation, this form will be maintained for the design. We will start by testing existing results and continue with incorporating in the design further algebraic constraints. Preliminary results will be validated in simulation, after which real-time implementation and validation is performed.

We are looking for a motivated student, able to invest himself fully into this project. Familiarity with Matlab and C programming is a must, as is a good command of the English language to have access to the literature. Experience with real-time applications is a plus.

Apply by contacting Zsofia Lendek.

Start date (duration): 
December, 2016
Project status and type: