Capstone Project - Modern Robotics : Mechanics, Planning and Control
Developer @hobby, home
This is a capstone project of a specialization in coursera which consists of six courses
Provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula
Provides a good knowledge in Robot Motion, Kinematics, Jacobians, Dynamics, Trajectory planning, Optimal time scaling, Path planning, Motion planning, Form closure, Force closure, Assembly stability, Feedback control, Odometry, Non-holonomic constraints, Mobile manipulation, Reeds shepp curve and lot more.
Capstone project consist of computing trajectory of the end effector to succesfully pick and place the cube. Two types of trajectory used are Cartesian and Screw Trajectory with cubic or quintic timescaling
Computes odometry using concepts in Screw theory rather than using differentiation
Implemented Feedforward + PI controller to follow trajectory
- Trajectory Planning
- Mobile Manipulation
- Feedback control
- Time scaling
- Jacobian
