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(PhD) Autonomous mobile robotic systems for remote handling
PhD Conference 2017 - Autonomous mobile robotic systems for remote handling and decommissioning
During my Second Year of PhD, I was have developed and simulated Model Predictive Controller (MPC) for 7 DoF HydroLek manipulator. This was byproduct, of conducted work on Linear Matrix Inequality (LMI) controller for this manipulator.
The goal of the controller, was generate path planning, of various configurations, for 7 DoF manipulator.
I used Matlab and Simulink.
You can click link on the bottom to download pdf of my presentation.
Dobromil Duda - Nuclear Robotics PhD Presentation 04 - Internal - Autonomous mobile robotic systems for remote handling and decommissioning.pdf
Dobromil Duda - PhD Conference 2017 - Autonomous mobile robotic systems for remote handling and decommissioning 3.pdf
I used Matlab and Simulink with additional libraries, to be able achieve such results, of HydroLek gripper.
Over Weekend Unity Gripper Contact Surface Project
Goal of this mini over weekend project, was to test and simulate contact surface sensors. I used Unity to simulate sensors, and to find most suitable orientation for gripper, based on detected surfaces of the object. As an operator, I was changing only faces to pick, polarity and alternate option.