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Thesis Presentation
Thesis Presentation
I Motivation
I Mathematical model
I General objective
I Methodology
1. Problem approach
Robotic arms are widely used for medical treatments, however, the
fact that the mathematical model governing a robotic arm is a
significantly non-linear system, the whole control statements ought
to work on error linearization or non-linear control.
Since there is a huge ethical background behind treating patients
with robotics, controlling the system plays a crucial role in the
whole system design, thus, error signals must be keep at their lowest
taking into consideration that a physically possible controlling (in
term of energy costs for example) needs to be developed.
1. Problem approach
a) At the left, the number of articles generated by year for this topic
is shown on the left. b) On the right, the citation map is presented.
2. Motivation
dI
U = IR + L + KI θ̇
dt
τ = KI I
3. Methodology
ẋ = Ax + Bu
y = Cx
3. Methodology
ė = (A − Ke C )e
4. Bibliography