ME 446 course (Robot Dynamics and Stability) introduced basic robotics to us through lectures and labs. The lab consisted of learning and applying the different control algorithms taught in class on a CRS robot. Over the course of the semester, we learnt how to write forward & Inverse equations on CRS robot, PID and Inverse dynamics control, Trajectory planning and Task Space control. The final contest requires the CRS Robot to perfrom the following 4 steps.
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1. Insert the Peg in the hole.
2. Avoid an obstacle in its path
3. Move the Peg through a zig-zag path
4. Press on a egg down
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General strategy of the controls that we used was to take feedback and use appropriate gains to transform the system to be a second order or stable system while the error between desired behavior and actual behavior asymptotically decays. Depending on the input, feedforward and error integral calculation may be needed to track time varying signal and remove constant deviation. For our project, we divided the motion of the robot into different time period and assigned the desired trajectory depending on the time instant. Our group was able to perform all the necessary tasks in 5.3 seconds.
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Final Task Demo
The video shows our final task being completed in 5.3 seconds
We finished our group tasks by breaking some eggs using our Robots. Because, breaking eggs by hand is too mainstream