An Optimal Control Approach to Robust Control of Robot Manipulators

The project of robust control course, under supervision of Dr. H.A Talebi.
Abstract- We present an optimal control approach to robust control of robot manipulators.To guarantee the performance of the manipulator under uncertainties, we first translate the robust
control problem into an optimal control problem, where the uncertainties are reflected in the
performance index. We then use the optimal control approach to solve the robust control problem.

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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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DOCUMENT IS IN PERSIAN

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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DOCUMENT IS IN PERSIAN