Robotic Manipulation

Introductory Robotic Manipulation Course at NU

This was an introductory course in Robotic Manipulation culminating in a final capstone project where I was tasked with having a YouBot (UR5 arm attached to an omnidirectional base) solve a simple pick and place problem. In this course I learned Feedforward and PID control for robotic arms and bases, using various linear algebraic properties to solve these tasks as the number of components scaled up.

If you'd like to see the results of this capstone or the code that made it work, follow the GitHub link and see the video below.

Language: Python
Environment: CoppeliaSim
Skills: PID Control, Linear Algebra