Complete Dynamic Modeling of the “WORKER” and “6-DoF” Robots

Brief Project Description

Development of analytical functions enabling a complete kinetostatic analysis of the WORKER robot frame using both global modeling methods and, alternatively, Screw Theory. The thesis requires model validation by comparing the analytical results with those obtained through Mechanism simulations, ROS-based machine simulations, and empirical data acquired on the physical robot. The study may begin with the 4-DoF WORKER robot and later extend to the 6-DoF system, or vice versa, deriving one as a special case of the other.

This thesis is conducted in collaboration with: Marchesini Group

Apply Now