M.Sc. in Mechatronics Engineering

Cumulative GPA: 4.0 of 4.0 (32 credits, Top Student)
Supervisor: Prof. S. Ali. A. Moosavian

  • Thesis: Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task
    • Proposing a Hybrid Cable Parallel-Serial Manipulator for Object Manipulation
    • Inverse, Forward Kinematic, Velocity, Acceleration, Workspace, Dynamic Mathematical Modelling and Validation by SimMechanics Virtual Software Model of Hybrid System and Cable
    • Redundancy Resolution Algorithm and Reduce Cable Redundancy by Mechanical Novelty
    • Dynamic Modelling, Redundancy Resolution Algorithm, Reduce Cable Redundancy by Mechanical Novelty and Dynamic Modelling of Cable
    • Optimization of Structural Design of a Constraint and Suspended Parallel Robot according to Stiffness, Sensitivity, Singularity, Workspace Volume Analysis by Genetic Algorithm
    • Proposing Algorithm and Implementation of Serial and Parallel Multiple Impedance Control for Object Manipulation, Optimization of Impedance Coefficients to Manage Interaction of Human-Robot Force/Moment
    • Design and Manufacturing of 8 Cable Constraint Parallel Robot, Image Processing (Vision) + IMU for Position/Orientation Feedback, Proposing Algorithm in Shortage of Rotary Winch Sensor, Nonlinear Position Control of Platform



Core Course

Major Course

Sun, 2013/09/22 to Thu, 2015/12/31
K.N. Toosi University of Technology (KNTU)
Tehran (Iran)