Andrew Burks

Tag: PID

Simulated Robot Control

by on Jan.28, 2011, under Classwork

Kinematics, Dynamic Systems, and Controls (16-711) is one of the most interesting and challenging classes I have ever taken.  We had a very difficult first assignment that involved controlling a simulated 2 link 2D robot arm.  Here is a video just to demonstrate an idea of what was going on:

At every timestep in the simulation, we are given the current joint angles and velocities, and we need to return values for torques that we want to apply at each of the two joints to control the arm.  Basically, we used PID Control to do some really cool stuff, including having the robot write my signature!

Jon was an incredible partner on this assignment and I look forward to working with him again.  You can view our final submission here.  I can’t wait till the next project!

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