https://github.com/parth-20-07/robot-control
This repository contains all my skills and progress that I developed during RBE 502 - Robot Control at WPI
https://github.com/parth-20-07/robot-control
control control-systems controller robot
Last synced: 4 months ago
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This repository contains all my skills and progress that I developed during RBE 502 - Robot Control at WPI
- Host: GitHub
- URL: https://github.com/parth-20-07/robot-control
- Owner: parth-20-07
- License: gpl-3.0
- Created: 2023-04-29T18:55:31.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2023-05-07T00:12:08.000Z (about 3 years ago)
- Last Synced: 2025-05-14T18:08:33.689Z (about 1 year ago)
- Topics: control, control-systems, controller, robot
- Homepage:
- Size: 14.4 MB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
Awesome Lists containing this project
README
- [Introduction](#introduction)
- [Setup Basic Tools](#setup-basic-tools)
- [Problem Sets](#problem-sets)
- [Assignments](#assignments)
- [Assignment 0: Setup Environment](#assignment-0-setup-environment)
- [Assignment 1: 2 DoF Revolute Revolute Robot Arm Equation of Motion](#assignment-1-2-dof-revolute-revolute-robot-arm-equation-of-motion)
- [Assignment 2: Position Tracking using State Feedback Controller Design for a 2 DoF RRBot](#assignment-2-position-tracking-using-state-feedback-controller-design-for-a-2-dof-rrbot)
- [Assignment 3: Trajectory Tracking using State Feedback Linearization Control for a 2 DoF RRBot](#assignment-3-trajectory-tracking-using-state-feedback-linearization-control-for-a-2-dof-rrbot)
- [Assignment 4: Trajectory Tracking using Robust Controller for a 2 DoF RRBot](#assignment-4-trajectory-tracking-using-robust-controller-for-a-2-dof-rrbot)
- [Final Project](#final-project)
- [Designer Details](#designer-details)
- [License](#license)
# Introduction
The course aims to learn about Robot Control Algorithms.
Each Assignment shown here has a detailed explanation in its directory. Please refer to the individual directories for an in-depth explanation of how the code works.
🗒*Note: If you understand the codes enough and are smart enough, it will be super simple to port it to the system that you like. I understand coding enough to build all these things but still am not too expert to build cross-platform products yet!*
# Setup Basic Tools
Click the [Link](./Docs/Assignment%200.pdf) to see the complete guide on how to set up the essential tools for the project.
# Problem Sets
- [Problem Set 1](./Docs/Problem%20Set%201/)
- [Problem Set 2](./Docs/Problem%20Set%202/)
- [Problem Set 3](./Docs/Problem%20Set%203/)
- [Problem Set 4](./Docs/Problem%20Set%204/)
# Assignments
## [Assignment 0: Setup Environment](./Docs/Programming%20Assignment%200/)
The aim of the [Assignment 0](./Docs/Programming%20Assignment%200/) is to set up the environment and try a basic run of programming.
## [Assignment 1: 2 DoF Revolute Revolute Robot Arm Equation of Motion](https://github.com/parth-20-07/2-DoF-Revolute-Revolute-robot-arm-Equation-of-Motion)
The aim of [Assignment 1: 2 DoF Revolute Revolute Robot Arm Equation of Motion](https://github.com/parth-20-07/2-DoF-Revolute-Revolute-robot-arm-Equation-of-Motion) is to develop the Equations of Motion for a 2 DoF Revolute Revolute Robot Arm using the Euler-Lagrange Method.
## [Assignment 2: Position Tracking using State Feedback Controller Design for a 2 DoF RRBot](https://github.com/parth-20-07/Position-Tracking-using-State-Feedback-Controller-Design-for-a-2-DoF-RRBot)
The aim of [Assignment 2: Position Tracking using State Feedback Controller Design for a 2 DoF RRBot](https://github.com/parth-20-07/Position-Tracking-using-State-Feedback-Controller-Design-for-a-2-DoF-RRBot) is to test the stability of a 2 DoF RRBot and design position tracking using a State-Feedback Controller.
## [Assignment 3: Trajectory Tracking using State Feedback Linearization Control for a 2 DoF RRBot](https://github.com/parth-20-07/Trajectory-Tracking-using-State-Feedback-Linearization-Control-for-a-2-DoF-RRBot)
The aim of [Assignment 3: Trajectory Tracking using State Feedback Linearization Control for a 2 DoF RRBot](https://github.com/parth-20-07/Trajectory-Tracking-using-State-Feedback-Linearization-Control-for-a-2-DoF-RRBot) is to learn polynomial Trajectory Generation for a 2 DoF RRBot and design a trajectory tracker using State-Feedback Linearization Controller.
## [Assignment 4: Trajectory Tracking using Robust Controller for a 2 DoF RRBot](https://github.com/parth-20-07/Trajectory-Tracking-using-Robust-Controller-for-a-2-DoF-RRBot)
The aim of [Assignment 4: Trajectory Tracking using Robust Controller for a 2 DoF RRBot](https://github.com/parth-20-07/Trajectory-Tracking-using-Robust-Controller-for-a-2-DoF-RRBot) is to design Robust Controller for Trajectory Tracking for a 2 DoF RRBot.
# [Final Project](https://github.com/parth-20-07/Sliding-Mode-Control-Based-3D-Trajectory-Tracking-for-UAVs)
Project Topic: [**Sliding Mode Control Based 3D Trajectory Tracking for UAV**](https://github.com/parth-20-07/Sliding-Mode-Control-Based-3D-Trajectory-Tracking-for-UAVs)
The project focuses on 3D Trajectory Tracking for a Crazyflie based UAV by developing Sliding Mode Control.
Tools used: ROS 1, Python, Gazebo
# Designer Details
- Designed for:
- Worcester Polytechnic Institute
- RBE 502: Robot Control
- Designed by:
- [Parth Patel](mailto:parth.pmech@gmail.com)
# License
This project is licensed under [GNU General Public License v3.0](https://www.gnu.org/licenses/gpl-3.0.en.html) (see [LICENSE.md](LICENSE.md)).
Copyright 2023 Parth Patel
Licensed under the GNU General Public License, Version 3.0 (the "License"); you may not use this file except in compliance with the License.
You may obtain a copy of the License at
_https://www.gnu.org/licenses/gpl-3.0.en.html_
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.