For this particulate project, I was given a complete Simscape model of a 3R robot. My objective was to develop a controller that the manipulator could use to follow a given trajectory.
Once the trajectories of the end effector were developed, I calculated the joint angles for each joint using standard inverse kinematics formulas. For the manipulator control, I used a combination of a PID and a transpose Jacobian controller to control the robot's joint torques. Transpose Jacobian control is a popular method of controlling robotic systems and is less computationally intense than inverse Jacobian. The Simulink block diagram of the controller is shown in the image below.
About Me
I am a recent master's grad seeking to make an impact in the robotics industry.
I became fascinated with mechatronics ever since I piloted my first RC car. As I grew, I came to appreciate the thoughts and ideas that go into building these devices. I wanted to understand this technology and contribute to the innovation.
I studied Biomedical Engineering and Applied Math in undergrad, where I used my knowledge to learn essential engineering fundamentals, but attending graduate school was always my goal. I graduated with a M.S. in Mechanical Engineering from Georgia Tech, focusing in control systems and robotics.
I'm currently seeking full-time opportunities in the aerospace and robotics industries because that's where I believe I can make the most impact. I created this portfolio to showcase some of my projects with RC vehicles, robot manipulators and control systems to aid me in my search.
Education
Georgia Institute of Technology
M.S. Mechanical Engineering
Stony Brook University
B.E. Biomedical Engineering
B.S. Applied Math & Statistics