PROJECTS

MAZE SOLVER WITH VARIABLE OBSTACLE DENSITIES

Navigation of a robot through a cluttered environment filled with randomly placed obstacles of variable densities using BFS, DFS, Dijkstra, A*, Random Planner, and RRT*

JOINT SPACE PID CONTROL OF RRP MANIPULATOR

ROS

GAZEBO

KINEMATICS,DYNAMICS & CONTROLS

The objective is to develop a joint space position control for a 3-DOF revolute-revolute-prismatic (RRP) robot manipulator. The task is to implement a controller for joint space tracking of the robot in Gazebo.

LEARNING BY DEMONSTRATION

The robot learns skills of stitching the wound by demonstrating how doctors perform suturing by inserting surgical needles from entry to exit points to close the wound.

It learns using a Dynamic Primitive model and a optimization algorithm to get better results

DYNAMICS & CONTROLS

ARTIFICIAL INTELLIGENCE

Inverse Dynamics Control of the UR-5 Robot

DYNAMICS & CONTROLS

Trajectory tracking by inverse kinematics on each of the points of quintic polynomial trajectory between each set of waypoints

Object Detection and placing using IRB 2600 ABB Robot

ROBOTICS

The pick and place operation using the 6R manipulator is carried out via the ABB programming module. Hercules software was used for serial communication between the computer and the ABB programming module. Robot Studio software was used for creating a visual simulation of the whole process.