Online estimation of the human force acting on the end-effector of a collaborative robot and online optimal control of the torque
- Mark21_semidef is the part of the project concerning the estimation of the human force (https://github.com/Roddolo/Collaborative-robot/tree/master/Mark%2021_semidef)
- Mark23_semidef is the part of the project concerning the optimal control of the robot's torques (https://github.com/Roddolo/Collaborative-robot/tree/master/Mark%2023_semidef)
- Report of the project (https://github.com/Roddolo/Collaborative-robot/blob/master/CNOEC_report.pdf)
Students Rodrigo Senofieni, Andrea Ghezzi, Luca Brolese. Project for the course of Constrained numerical optimization for estimation and control, held at Politecnico of Milan by Prof. Lorenzo Fagiano