Robotics

Over the course of a semester, I performed a number of operations using an Omni robot with six revolute joints. The exercises were preformed using MATLAB and QUARC and covered the topics of forward kinematics, inverse kinematics, position control, trajectory generation, and the Jacobian. These projects demonstrated how robotics and controls principles can be joined to achieve complex tasks. In addition to organizing QUARC control system block diagrams, I also developed the underlying MATLAB code to power each computational block.