Developed and implemented a robust controller for an ABB robotic arm, enabling precise motion to write CSM letters on a board.
Contributed to a comprehensive project spanning five stages, involving the application of inverse kinematics, constant acceleration interpolation, DH inverse kinematics, and Newton Euler methods for enhanced control and accuracy.
Designed a Trajectory Generator block, incorporating constant acceleration interpolation to create smooth motion trajectories. Implemented techniques to calculate position-Quaternion, Velocity-Quaternion, and Acceleration-Quaternion for optimal arm movement. U
Utilized advanced control theory to determine gains for the 2nd order system, enhancing the performance of the controller in discrete time. Achieved improved tracing accuracy through the application of higher-order gains.
Conducted a thorough analysis of controller performance, including the effects of different speeds on tracing accuracy. Identified limitations in motor frequencies and proposed a control law to mitigate errors. Explored the impact of laser tracking on precision and suggested future directions for robust control in stochastic environments.
