Modelling a robotic manipulator

Manipulator robots are now widely used in many industrial applications. There exists many toolchains for interfacing with standard robot arms, such as Universal Robots, so the underlaying models and control are often overlooked.

I took the opportunity to take a new module at Imperial College London, covering the basics of kinematics modelling and fundamental topics in the world of robotics.

During the course, we applied our new knowledge by writing Matlab programs to control an OpenManipulatorX at the servo level.

Check out some of the tasks the arm was able to perform!

Go back home.