Discover matteosodano/Residuals_and_RLS Open Source project

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MATLAB
Created over 4 years ago
Updated over 4 years ago

matteosodano

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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.

Faster_Inverse_Dynamics_and_Coefficients_Identification

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+.

MATLAB

Singularities_UR10

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.

MATLAB

Optimal_Redundancy_Control_of_Robot_Manipulators

University group project concerning the analysis of the redundancy for a planar 3R robot manipulator.

MATLAB

SemSeg_Network

Pytorch implementation of Semantic Segmentation for Single class from scratch

Python