youBot Control System
Robust Trajectory Generator for a Virtual Robot
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.
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