Project thesis: State Machine and Safety Monitoring for the LBR4
Jul 21, 2014
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1 min read
This was by project thesis, which I did in 2014 on an LBR 4 +. I developed a state machine with MATLAB StateFlow, representing different states for a robot-assisted laser surgery system. Based on the state, the control architecture set several safety features for the robot (moving directions, max velocities etc.)
