Project concerning the design of trajectories approaching (boundary or internal) singularities, in order to compare the effects of the kinematic controllers based on pseudo-inversion and on Damped Least-Squares.
University group project concerning the comparison between the classical and the modified Denavit-Hartenberg convention in Newton-Euler algorithm, and the design of persistently exciting trajectories for the dynamic coefficients identification for the KUKA LWR IV+.
Human motion trajectory based on the minimum jerk principle and OpenSim model for the human upper limb
University group project concerning the sensorless estimation of the contact forces between a needle mounted on the end-effector of a robot manipulator and a penetrated tissue, and subsequent prediction of layer ruptures using Recursive Least Squares algorithm.
University group project concerning the analysis of the redundancy for a planar 3R robot manipulator.
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