Kinematics and control algorithm development and simulation for a redundant two-arm robotic manipulator system

An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control

LLV - Lunar Logistic Vehicle Final report

Evaluation of systems design training institute for engineering facult

Towards Integrated Optical Quantum Networks in Diamond

We demonstrate coupling between the zero phonon line (ZPL) of nitrogen-vacancy centers in diamond and the modes of optical micro-resonators fabricated in single crystal diamond membranes sitting on a silicon dioxide substrate. A more than ten-fold enhancement of the ZPL is estimated by measuring the modification of the spontaneous emission lifetime. The cavity-coupled ZPL emission was further coupled into on-chip waveguides thus demonstrating the potential to build optical quantum networks in this diamond on insulator platform