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.
Link: Dobromil Duda - Nuclear Robotics PhD Presentation 04 - Internal - Autonomous mobile robotic systems for remote handling and decommissioning.pdf (29.9MB)
Link: Dobromil Duda - PhD Conference 2017 - Autonomous mobile robotic systems for remote handling and decommissioning 3.pdf (2.3MB)
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