1. Robotics and Control of Underactuated Systems
Mahdi Momeni Kelageri XXIX Cycle PhD Candidate 1st year presentation
Tutor: Prof. Vincenzo Lippiello
February 2015

2. Education Background
: B.Sc. Of Electrical Engineering (Minor: Control Engineering), Ferdowsi University of Mashhad, Iran
: M.Sc. Of Electrical and Eectronic Engineering, Pusan National University, South Korea
: M.Sc. Of Control Engineering and Automation, SUPELEC, Paris, France
: Internship in Fraunhofer IPA, Stuttgart, Germany

3. Research Projects in First year
March September 2014: Robotic Machining
Problems ahead:
External wrenches deform the manipulator and thus change the end-effector’s positions (positioning error)
Solution:
Stiffness Modeling
Stiffness Control

4. Research Projects in First year

5. Research Projects in First year
Achievements and Results:
New stiffness model with 36 DOFs
Nonlinear descriptive
Error reduction for about 50%

6. Research Projects in First year

7. Research Projects in First year

8. Research Projects in First year

9. Research Projects in First year
Simulation Results:
Position Control along x-axis
Goal:
Change the position from 0.48 to 0.54m
Control Inputs:

10. Research Projects in First year
Simulation Results:
Position Control along y-axis
Goal:
Change the orientation from 0 to 90
Control Inputs:

11. Research Projects in First year
Experimental Results:

12. Future Works

13. I'm nobody! Who are you? Questions? How dreary to be somebody!
How public, like a frog
To tell your name the livelong day
To an admiring bog! 
Questions?
I'm nobody!
Who are you?
Thank you for your attention
I'm nobody! Who are you?
Are you nobody, too?
 Then there's a pair of us—don't tell!  They'd banish us, you know…
Emily Dickinson ( )