Modeling and Identification of Robotic Manipulators Dynamics
This research project aims to enhance collision detection and physical interaction capabilities in collaborative robotic arms, crucial for both traditional automation and human-robot interaction. The focus is on improving the dynamic model identification of manipulator robots, addressing the limitations of current methods that primarily emphasize inertial and kinematic parameters. By identifying and mitigating sources of uncertainty and delay, the project will develop optimized identification strategies and design trajectories that increase parameter observability. The out comes will be validated experimentally using a collaborative robot equipped with high-frequency torque sensors, ensuring safer and more responsive human-robot interactions.
