This assignment is performed in collaboration with Wave Hexapod.
Wave Hexapod has designed a new method to harvest green energy from waves by using a robotic arm and a floating platform. The goal of the assignment is to model this process using port-Hamiltonian modelling. The robotic arm will be modelled by another student. I will focus on the interaction of the arm with the waves and the working of
the motors.
As the company is already testing and using a robotic arm, parameter estimation has to be performed to determine the correct parameters for the model.