In his doctoral dissertation, MSc Mohammad Bahari developed methods for designing and controlling heavy-duty robotic manipulators powered by electric actuators. His framework connects the choice of actuator configuration with motion planning, so that the robot’s tasks can be carried out efficiently within the actuators’ physical limits. By simulating complete manipulators and conducting experiments on a single-actuator testbed, he demonstrated effective motion planning and precise tracking, including sensorless control. The findings provide tools for engineers developing electric alternatives to hydraulic actuation in heavy machinery.
The doctoral dissertation of MSc Mohammad Bahari in automation technology and mechanical engineering, titled Toward the Electrification of Heavy-Duty Robotic Manipulators: A System-Level Framework for Unified Modeling, Optimization, and Control, will be publicly examined at the Faculty of Engineering and Natural Sciences at Tampere University on Friday, 27 November 2026.
The Opponent will be Professor Shaoping Bai from Aalborg University, Denmark. Professor Jouni Mattila from Tampere University will act as the Custos.