Research and development of state of the art robotic systems
Mechanism Analysis using Screw Theory
Mechanical analysis of automated systems used to test hard disc drives in large volumes under desired thermal and dynamic conditions.
Ecole Centrale de Nantes
This thesis focuses on the modeling and control of cooperative robots manipulating rigid and flexible objects. Theoretical contributions include kinematic and dynamic analysis of robot behavior, new modeling strategies for multi-arm systems and new force/vision controllers that cope with unexpected object deformation. Studies on flexible object manipulation lead to a new dynamic formulation for parallel robots with flexible platforms. The proposed modeling formulations are validated using advanced simulation tools.The control schemes are validated experimentally in the industrial environment using a Meat Cutting Robotic Cell.
Mention : Trés bien
University of Genoa, Ecole Centrale de Nantes
1st class honours
National University of Ireland, Galway