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Mobile Manipulation youBot
This is the project of the last Modern Robotics course. Here’s a bullet list of the algorithm’s steps (written in Matlab) used to create the trajectory and variable states of the simulations:
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Cart and pendulum Control
The cart-and-pendulum system moves along an infinitely-long and frictionless horizontal track. The pendulum’s joint is also frictionless.
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Robotic end-effector positioning For Additive Manufacturing
My role in this project was to control the robot and provide the desired position and orientation of the end-effector. The slicer code provided the specific details for this positioning. The 6-axis Motoman Yaskawa robot has the capability to achieve a given pose with multiple configurations. To identify the best possible set of configurations and…
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