Mobile Manipulation

Trajectory planning, odometry, and feedback control for a simulated mobile manipulator.

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In this project, I used Python and CoppeliaSim to write software that calculates an end-effector trajectory, odometry for omni-directional wheels, and applies feedback control on the system. The final result was a KUKA youBot simulated in CoppeliaSim that was able to pick up and move a small object to a new location.

System Breakdown

This project was broken into three milestones:

1. Kinematics Simulator - Calculates robot kinematics as controls are applied.
2. Trajectory Generation - Generates trajectory for end-effector frame.
3. Feedback Control - Applies kinematic task-space feedforward plus feedback control law to system.

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