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Modelling of a 7-DOF KUKA Lightweight Robotic Arm and Implementation of Inverse Dynamics and Impedance Control

http://www.turbosquid.com

This project contributes to the larger goal of controlling multiple robotic arms in a cooperative manipulation task, such as cooperative transportation.

The goal of this project is to develop and implement a model of a 7-DOF KUKA Lightweight robotic arm using the Robotics Toolbox in Matlab Simulink. Based on this model, an inverse dynamics controller and an impedance controller are implemented. The implemented model of the robot and the control algorithms are tested by simulating different position and force trajectories.

If time permits, the simulation environment can be extended to multiple robots.

• Familiarization with the theory of robotics dynamics and robotics low-level controllers with a special focus on inverse dynamics control and impedance control;
• Familiarization with the model of the KUKA Lightweight robotic arms;
• Implementation of the KUKA Lightweight robots' model in Matlab/Simulink using the Robotics Toolbox;
• Implementation of an inverse dynamics controller and an impedance controller;
• Testing of the implemented control algorithms;

Feel free to contact stuerzy@control.ee.ethz.ch or eichlean@control.ee.ethz.ch for further information.