Human motion trajectory based on the minimum jerk principle and OpenSim model for the human upper limb
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Updated
Feb 15, 2023 - MATLAB
Human motion trajectory based on the minimum jerk principle and OpenSim model for the human upper limb
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+.
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 analysis of the redundancy for a planar 3R robot manipulator.
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.
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