MCE 747 - Robot Dynamics and Control

In this class, I learned robotics concepts and analytical tools to control robotic manipulator systems, with strong emphasis on dynamics and control:

Motion Control Techniques:

• PD;
• Inverse Dynamics;
• Passivity and Adaptation; and
• Impedance/interaction control
.

For midterm evaluation, a laser beam source has been attached to one side of the wrist in order to demonstrate the possibility of zero Cartesian velocity for a given point with nonzero joint velocities.

For the first step of final projet was to find optimal reference trajectories for best system identification task. Additionally, I created a Graphical User Interface for the WAM Manipulator to test all the Control Techniques learned in class.