Melissa Cruz - Robot Modeling and Control

Robot Modeling and Control

This class focused on teaching the basics of 2D and 3D modeling and control of robot arms, covering coordinate transforms, inverse kinematics and dynamics, and position and force control.

This is my Matlab implementation of impedance control of two RR planar robot arms that move a box in a straigt line trajectory. The applied force of the two arms are shown and updated as the box is deformed and moved.

PD control

Inverse Dynamics

Here, I explored the performance of PD Control and using Inverse Dynamics for joint position control.

This exercise was a comparison of using Newton-Euler and Lagrange Dynamics to create a model of a 3-Link Planar Manipulator falling from an initial starting position.

Newton-Euler Dynamics

Lagrange Dynamics

Cubic Trajectory Following

Quintic Trajectory Following

Here I used two different types of trajectories to make the end-effector of a Stanford Manipulator follow a rectangular path.

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