Mechatronic Undergraduate Thesis

My undergraduate thesis data. Template from Prof. Geovany Borges. It is available at sharelatex and here.

Folder Description

• src: source files
  • dot: Dot Graphs
  • logs: Experiment Logs
  • matlab: Matlab code for data processing
  • python: Python scripts for log processing
  • org: OrgMode file for personal organization
• tex: report files
  • figs: images and figures
  • tables: data tables in tex format

License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Reference

Links

1. https://github.com/ahoarau/mekabot

Videos

1. Trajectory Control For Manipulators With Dual Quaternion Based Kinematic Controllers - Marcos Pereira
2. Interview - UnB TV (pt)

Publications

If you use this work in an academic context, please cite the following publications:

• R. LIMA: Estudo e Caracterização de Arquitetura de Controle de Braço Robótico Complacente. Universidade de Brasilia, 2018. (PDF)

• Silva Pereira, Marcos: Trajectory control of anthropomorfic compliant manipulator with Dual Quaternion Based Kinematic Controllers. Universidade de Brasilia, 2016. (PDF)

• L. F. C. Figueredo and B. V. Adorno and J. Y. Ishihara and G. A. Borges: Robust kinematic control of manipulator robots using dual quaternion representation. IEEE International Conference on Robotics and Automation, 2013. (PDF)

    @book{RafaelLima2018,
        author = {Lima, Rafael},
        title = {Estudo e caracterização de arquitetura de controle em braço robótico complacente},
        publisher = {Universidade de Brasilia},
        year = {2018}
    }
    
    @book{marcosps2016,
        author={Silva Pereira, Marcos},
        title={Trajectory control of anthropomorfic compliant manipulator with Dual Quaternion Based Kinematic Controllers},
        publisher = {Universidade de Brasilia},
        year={2016}
    }
    
    @INPROCEEDINGS{figueredo:2013,
        author={L. F. C. Figueredo and B. V. Adorno and J. Y. Ishihara and G. A. Borges},
        booktitle={2013 IEEE International Conference on Robotics and Automation},
        title={Robust kinematic control of manipulator robots using dual quaternion representation},
        year={2013},
        volume={},
        number={},
        pages={1949-1955},
        keywords={end effectors;H∞control;manipulator kinematics;robust control;robust kinematic control;manipulator robots;H∞robust control problem;unit dual quaternion representation;end-effector transformation;H∞control criteria;asymptotic convergence;system stability;dual quaternion error;robot coordinate changes;Quaternions;Joints;Robot kinematics;Kinematics;Vectors;Manipulators},
        doi={10.1109/ICRA.2013.6630836},
        ISSN={1050-4729},
        month={May}
    }