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.
Undergraduate Research
During my senior year of undergrad, I worked as a research assistant for the Orthopaedic Bioengineering Research Laboratory at Stony Brook University, run by Dr. Yi-Xian Qin. My work at the laboratory involved constructing a working 3D model from CT scans of an ankle. I successfully incorporated anatomically correct ligament and cartilage tissue into the geometry of the joint, and performed Finite Element Analysis (FEA) using ABAQUS to study its mechanical behavior under normal and valgus conditions. The model was then validated in accordance with prior academic results, and my work was presented in the BME 2019 Conference.