Mahdi Momeni KelageriXXIX Cycle PhD Candidate

1st year presentation

Tutor: Prof. Vincenzo Lippiello

February 2015

Robotics and Control of Underactuated Systems

1. 2001-2006: B.Sc. Of Electrical Engineering (Minor: Control Engineering), Ferdowsi University of Mashhad, Iran

2. 2009-2011: M.Sc. Of Electrical and Eectronic Engineering, Pusan National University, South Korea

3. 2011-2013: M.Sc. Of Control Engineering and Automation, SUPELEC, Paris, France

4. 2013-2014: Internship in Fraunhofer IPA, Stuttgart, Germany

Education Background

1. March 2014 - September 2014: Robotic MachiningProblems ahead:• External wrenches deform the manipulator and thus change the end-

effector’s positions (positioning error)

Solution:• Stiffness Modeling

• Stiffness Control

Research Projects in First year

Research Projects in First year

1. Achievements and Results:New stiffness model with 36 DOFsNonlinear descriptiveError reduction for about 50%

Research Projects in First year

Research Projects in First year

Research Projects in First year

Research Projects in First year

Simulation Results:

1. Position Control along x-axisGoal: • Change the position from 0.48 to 0.54m

Control Inputs:

Research Projects in First year

Simulation Results:

1. Position Control along y-axisGoal: • Change the orientation from 0 to 90

Control Inputs:

Research Projects in First year

Experimental Results:

Research Projects in First year

Future Works

How dreary to be somebody! How public, like a frog

To tell your name the livelong dayTo an admiring bog! 

Questions?

I'm nobody! Who are you?Are you nobody, too?

 Then there's a pair of us—don't tell! They'd banish us, you know…

Emily Dickinson (1830-1886)

Thank you for your attention

I'm nobody!Who are you?