Public Summary Month 7/2012

During the present monitoring period, the following research activities within the HUROBIN experiment were carried out:

  1. Low level control of the servo motors in the Simulink scheme was improved, along with S-function including communication processes using the USB-CAN interface.
  2. Analysis of the robotic arm’s compliance based on data from the JR3 force/torque sensor was completed. A new set of reference angles for each motor was computed using the Jacobian matrix. 

Task 3 "Design and development of control strategy for the robotic platform" represent an ongoing activity aimed at achieving Milestone M3 “Implementation of a control strategy for the cooperative task” which will be presumably achieved on month 42. Task 6 "Dissemination" represents an ongoing research activity as well.

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