Invitation: MS Thesis Defense of Michael Mullaney

Hello ME Community,
You are invited to join the Masters Thesis Defense of Michael Mullaney, on Friday, April 10, beginning at 10:30am.  The defense will be presented in person in the Engineering Building room 210-I. (the Mechanical Engineering Conference room)

Advisor: Dr. TseHuai Roy Wu

Title:  Development of a Bidirectional Digital Twin System for Robot Control,
Synchronization, and Trajectory Execution

Abstract:
This thesis focuses on the implementation and comparison of Jacobian-based inverse kinematics methods, including the pseudoinverse, damped least squares, and selectively damped least squares approaches. In addition, I developed a bidirectional interface between a physical robotic manipulator and its digital twn, which exists within the VxSIM 3D simulation environment, along with an offline trajectory planning framework.