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 compensates the nonlinear dynamics of robot manipulators.

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Adaptive control of a kinematically and dynamically uncertain PA-10 Mitsubishi

The project of advanced robotic course, under supervision of Dr. H. A. Talebi.
Abstract - We derive an adaptive Jacobian controller for trajectory tracking of cooperative redundant robot with uncertain kinematics and dynamics.

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Mini Automation Project

In this project, you can config two relays to start/stop high power devices on a specific time using PIC18f4550 and PCF8583.
Here is the Proteus Simulation and CCS Project.
All setting are configurable. It has simple 3 level menu by which you can edit start time and stop time of each relay and also you can change the current time. Since PCF8583 is used and every settings is saved on PIC18f4550 memory, even when electricity run off this device can operate normally afterward.
Here is Proteus Schematic:

Here is the actual Device: