2025; Master's Thesis: Part 2 of 4: Manipulator Control (Removed)

//certain sections of the original thesis have been removed

Introduction

These set of four blog posts will cover the work I performed for my Master's Thesis at KAIST titled "Accelerating Policy Learning for Robust Control of Robotic Manipulators and Aerial Vehicles via Physics-Informed Guidance" under Professor Dong Eui Chang. The full thesis can be found at KAIST library: THESIS after it is publicly released. It has in-depth explanation of the preliminary concepts, simulation and control design (including both equations and intuition), and the experimental results. Please note that these posts do not cover the entire thesis in detail and is instead built upon my thesis defence slides that summarizes the full approach. Parts of this thesis are still partly utilized for other research work, and so some sections have been removed.

This is part two of the four part series and this blog post will cover manipulator dynamics and control algorithm.

UPDATE: Due to conflicts with other research work, I had to remove this blog post.