## youBot Control System

##### Robust Trajectory Generator for a Virtual Robot

### About:

I built the youBot Control System for Northwestern University’s Robotics Manipulation (MECH_ENG 449) capstone assignment,
and the project entails generating the trajectory for a mobile 5R robot with four mecanum wheels (the youBot) to complete
the task of picking up a cube at a certain location and dropping it off at another.
Through working on this assignment, I gained practical experience with robotic simulations and closed-loop controls. I also
strengthened my computational ability by applying linear algebra concepts to calculate the desired motion of each component
on the robot given certain initial and final conditions.

### Concepts Utilized:

**Inverse kinematics** to generate a reference trajectory for the end-effector
**Odometry **to simulate realistic movements for the mecanum wheels
**PI feedback controller** to model and correct the error dynamics of the robot trajectory
### Check out my GitHub repository for a detailed explanation of the code and the video demo