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.
Robotics
I have experience in designing mechatronic devices, with a working knowledge on many common sensors and actuators, as well as a good understanding of electrical circuit design.
I also have experience with PUMA robots, having manipulated them using inverse kinematics, dynamics analysis, trajectory planning and joint control.
Relevant Courses
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Robotics
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Mechatronics
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Machine Design
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Classical Mechanics
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Bioinstrumentation
