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.
Control Systems Development
With over two years of experience, I am knowledgeable with both classical and modern control techniques. I have previous experience with direct implementation of LQR, PID and model reference controllers onto hardware using C++. I also have good knowledge of Simulink for control simulation.
In addition, I have experience with nonlinear controls, using common linearization techniques as well as adaptive and sliding controls. Check out some of my previous work in the sub-menu on top.
Relevant Courses
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Classical Controls
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Linear Controls
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Nonlinear Controls
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Digital Controls
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Advanced Control Design & Implementation