### Implementing Dynamics and Control of a Quadrotor in MATLAB

In this post, we will implement the dynamics and control of a quadrotor in MATLAB and Simulink. Stabilizing and tracking controllers are simulated and implemented on Quadcopter. A square trajectory is specified for the tracking controller. The reference of the simulation equations is the paper "Modeling and control of quadcopter" by Teppo Luukkonen. You can download the paper HERE! It has a table of values that we will use for the simulation. Objective: Simulation of Dynamics and Control of a Quadrotor in MATLAB and Simulink The objective is to implement a simulation of the quadcopter dynamics by implementing the equations…

### Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…

### Fuzzy PID Control of a 6-DOF Parallel robot

In this report, you will learn about the Fuzzy PID Control of a 6-DOF Parallel robot. So, if you are interested in learning about the control of parallel robots, keep reading. Note: The contributors of this project are Madi Babaiasl, Seyyed Hamed Mahdioun, Askar Azizi, and Mehdi Dehghani Abstract Because of the sophisticated structure, parallel manipulators -unlike serial ones- have special characteristics that make them suitable for the tasks in which higher speed and acceleration with precision are required. Identifying the real geometrical parameters in the kinematic structure of a parallel robot (calibration) and simple and accurate Control method are…

### Segway Robot (Two-Wheeled Robot)

Note: Segway Robot project was done during the years 2011 - 2013 when Madiosn was a Master's student. Study on two-wheeled robots started in late 1990 in different robotic labs in different countries. The main objective is to design a balanced two-wheeled robot that has human-like abilities. The main research challenge in these robots is the inherent instability of their dynamical system. These robots can be used as autonomous vehicles in companies, factories, or just to transport people. Mechanical Design of Segway Robot Actuator Modeling According to Kirchhoff law: $V_a - Ri - L\frac{di}{dt} - V_e = 0$ Newton's Law…

### Shrimp Rover Robot

Note: Shrimp Rover Robot project was done during the years 2011 - 2013 when Madi was a master's student. Shrimp rover robot first introduced in 2001 for military applications: We have built a similar robot but instead of military applications, it can have rescue application by embedding Vital Sign Monitoring Sensors like CO2 sensor. The robot can also pass the obstacles by lifting the front leg. Mechanical Design Figure below shows the mechanical design of the robot: In case you are interested in re-building the robot, you can find the mechanical design in SolidWorks below: Mechanical Design in SolidWorks: Click…

### Design and Implementation of Driver for 8 DC Motors

Note: The driver for the DC motor project was done during the years 2011 - 2013 when Madi was a Master's student. Problem Definition The aim of this project is to design and implement a driver for 8 DC motors to be used in a surgical robot. L298 Driver This IC is the most common and powerful IC to drive DC motors, Relays, and Solenoids. Each IC can drive up to 2 motors. Therefore, in order to drive 8 motors, 4 of these ICs are needed. The pins of the IC are as follows: As can be seen above, the…

### 6-Legged Robot to Mimic Ant Locomotion

Note: The Ant Robot project was done during 2011 - 2013 when Madi was a master's student. The robot built in this LINK is inspired by our Ant Robot. Abstract Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, a new parallel kinematic structure is proposed for a six-legged ant robot. The mechanical structure is designed and optimized in Solidworks. The mechanism has six legs and only two DC motors actuate the six legs so from…

### Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix,…

### Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration and more repetitive. By using robots repetitive dull exercises can turn into a more challenging and motivating tasks…

### Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First they are designed for passive rehabilitation in which the robot guides the patient's limb through a predefined…