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1. 1. Accurate Simulation of a Collaborative Robot Arm with Cartesian Impedance Control

   University essay from Lunds universitet/Institutionen för reglerteknik

   Author : Joel Holmesson; [2021]
   Keywords : Technology and Engineering;

   Abstract : Simulation of systems is used in several fields of science as a tool for safe and resource-efficient testing, as well as a tool for prediction. In this thesis, the goal is to produce an accurate simulation of a collaborative robot arm, together with a controller solution. The robot is supposed to learn and perform contact-rich tasks. READ MORE