PATH/TRAJECTORY COMPUTATION OF ROBOTIC MANIPULATORS AND MOBILE ROBOTS  

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Successfully implemented RRT and PRM methods for a point robot using A* algorithm on MATLAB.

 

Successfully implemented PRM-based motion planning method for a planer manipulator using dijkstra algorithm.

 

Compared both the methods based on their properties.

 

DESIGNED CONTROLLERS FOR TWO-LINK ROBOT MANIPULATOR                                                                                      

Derived dynamic equations of motion for the robot manipulator using Euler-Lagrange equations.

 

Designed feedback-linearization and passivity based controllers to regulate the manipulator to desired configuration under control constraints using MATLAB/Simulink.

 

Compared the performance of the controllers under nominal and perturbed parameters.

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ROBOTIC ARM OPTIMIZATION PROBLEM                                                                                                                     

Time taken to reorient the arm from an initial orientation to a given orientation was minimized under given dynamic and control inequality constraints and boundary conditions using direct collocation.

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