Trajectory tracking of differential drive mobile robot
Spring ’22, ASU
Objective: Control a mobile robot to navigate a known environment with obstacle.
Simulation: Used RRT to generate trajectory for dynamic tracking, compared PD, PID and sliding mode controllers.
Results: PID controller was found to be better than PD and SMC controller when comparing RMS values
Control of Active Dancer Roller
Fall ’21, ASU
Objective: Control tension in an active dancer roller used in wire-rod mills.
Simulation: Simulated entire control strategy for the MIMO system using MATLAB, using both state feedback and LQR controllers.
Results: Got the desired output characteristics with respect to the settling time (<3.8 s), and overshoot (<20%).
Modeling and Simulation of a dispensing robot
Objective: Modeling of a robot that could transfer drinks from one station to another.
Simulation: Kinematic and work-space modelling of the PnP robot was done based on the IRB-1200 robot.
Results: Made an interactive GUI, where forward and inverse kinematic model were calculated and visualized.
