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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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.
Download document.
DOCUMENT IS IN PERSIAN