Dynamic Modelling & Control

BACKGROUND

In this project we are supposed to create a robotics package in MATLAB. An interactive and intuitive GUI should be developed that user can easily choose the topic of interest, input/modify any parameters needed, and view the plotted/animated results (similar to the toolboxes provided in MATLAB).

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PROCESS

We used Peter Corle's robotics toolbox commands as a basis to develop most of the functionalities of the toolbox.

Features included: Homogeneous matrix transformation with user input, angle conversions, forward kinematics, workspace calculation, inverse kinematics, differential kinematics and manipulator dynamics.​

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OUTCOME

Developed interactive GUI using MATLAB to perform kinematic and dynamic analysis of any robotic manipulator with provision for animation based on calculated workspace. Deeply understood the concepts of manipulator kinematics and dynamics, and also increased our command over MATLAB GUI functionality.

BACKGROUND

As a TA, was responsible for creating course material, grading and interacting with student to clear engineering concepts. Built a balancing robot to implement a nonlinear/linear controller and communication network with Bluetooth/wifi; Built a line follower on Arduino platform. The goal was to make the two-wheeled robot would autonomously follow black line in white background.

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OUTCOME

Helped students understand the process of using Arduino to build simple robots during laboratory sessions. Clarified concepts of modelling dynamic systems and assisted instructor in efficient functioning of coursework including grading assignments. Assisted in conducting a final 'bot fight' for students.

BACKGROUND

As part of my work at TAMU was tasked to study the mechanical and control system design of state-of-the-art ballbot design and create a detailed review.​

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OUTCOME

Improved understanding of the current state of ballbot design and the process of mathematical modelling. Strengthened my skills of analysis, design and technical writing.