Dual Arm Robot

My Role Description

1. System Integration 

The dual-arm robot was an extended version of a manipulator. To implement this, I needed to integrate the system and ensure smooth operation. Through this process, I gained hands-on experience in all aspects of robot assembly, including wiring the motor drivers and controllers, as well as designing the electrical system and controller.

2. Inverse Kinematics based Trajectory Generation 

For pick-and-place motion, I first analyzed the robot’s range of motion. Then, I implemented an inverse kinematics-based control using the damped pseudo-inverse (DPI) algorithm. The DPI algorithm helps the robot avoid singular configurations by incorporating a damping factor as a gain. With this approach, the robot was able to generate pick-and-place motions effectively in real time.