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- 11 March 2004 Robots page added
- 10 March 2004 while this website hasn't been updated for a while, activity at DIAPM went on
steadily. Here's a brief log of our activities:
- System update: latest release of RTAI and RTNET (RTAI-3.0r2, RTNet-0.6.1)
- Extensive testing on Robotic arm manipulator Comau SMART-S 3 using a fully detailed MBDyn model, based on a redundant coordinate set approach, including Coulomb or ModLugre friction in joints
- Developing and tuning of two different position control systems
- developed an application for online animations based on libQGLViewer
Currently we are working at:
- enhancing inverse dynamics in MBDyn
- feed-forward control based on MBDyn inverse dynamics
- motion planning
- introduction of elastic arms and joints in the model
- Spider robotic arm manipulator modelling
- learning-PID auto-tuning procedure
- 23 December 2003 Website launched
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