kashugoyal.github.io/manipulation.html at master · Kashugoyal/kashugoyal.github.io · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
<!DOCTYPE HTML>

<html>
<head>
  <title>
    Kashish Goyal
  </title>
  <link rel="shortcut icon" href="images/icon.png" />
  <meta charset="utf-8" />
  <meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no" />
  <!--[if lte IE 8]><script src="assets/js/ie/html5shiv.js"></script><![endif]-->
  <link rel="stylesheet" href="assets/css/main.css" />
  <link href="https://fonts.googleapis.com/icon?family=Material+Icons"
  rel="stylesheet">
  <!--[if lte IE 9]><link rel="stylesheet" href="assets/css/ie9.css" /><![endif]-->
  <!--[if lte IE 8]><link rel="stylesheet" href="assets/css/ie8.css" /><![endif]-->
</head>
<body>

  <!-- Wrapper -->
  <div id="wrapper">

    <!-- Header -->
    <header id="header" class="alt">
      <a href="index.html" class="logo"><strong>Kashish Goyal</strong> <span>Portfolio</span></a>
      <nav>
        <a href="#menu">Menu</a>
      </nav>
    </header>

    <!-- Menu -->
    <nav id="menu">
      <ul class="links">
        <li><a href="index.html">Home</a></li>
        <li><a href="https://linkedin.com/kashish-goyal">LinkedIn</a></li>
        <li><a href="https://github.com/Kashugoyal">Github</a></li>
        <li><a href="https://grabcad.com/kashish-1/projects">GrabCAD</a></li>
        <li><a href="https://kgoyal.wordpress.com">WordPress</a></li>
      </ul>
      <ul class="actions vertical">
        <li><a href="index.html#one" class="button special fit">My Projects</a></li>
        <li><a href="#two" class="button  fit">About Me</a></li>
        <li><a href="#contact" class="button special fit">Contact</a></li>
      </ul>
    </nav>

    <!-- Main -->
    <div id="main" class="alt">

      <!-- One -->
      <section id="one">
        <div class="inner">
          <header class="major">
            <h1>Motion Planning of Kuka youBot</h1>
          </header>

          <!-- Content -->
          <h2 id="content">Nov 2017- Dec 2017</h2>
          <p>
          Robots have the capability to follow precise trajectories at desired velocities and accelerations dictated by robot kinematics (dynamics neglected here..) </p>
          <p>This project is the application of concepts of Forward and Inverse Kinematics to manipulate the end effector of KUKA youBot along a given time-scaled reference trajectory. A PI feedback controller is used for error compensation. The animation of the simulation is below:
          </p>

          <video width="60%" controls>
            <source src="files/kuka.mp4" type="video/mp4">
              Your browser does not support the video tag.
            </video>

            <p>The entire simulation was done using Mathematica. The link to the Git Repository is <a href="#">here</a>.<br>
              The error vs time plots for two different sets of Kp and Ki are shown below:
            </p>

            <img src="images/kuka1.gif" width="50%">
            <img src="images/kuka2.gif" width="50%">

            <h2>Skills Involved</h2>
            <ul>
              <li>Mathematica</li>
              <li>Inverse Kinematics</li>
              <li>Feedback Control</li>
              <li>V-Rep</li>
            </ul>
            <a href="index.html#one" class="button special icon fa-angle-double-left"> Projects</a>

            <br><br>

            <br><br>
            <hr>
            <!-- Footer -->
            <footer id="footer">
              <div class="inner">
                <ul class="icons">
                  <li><a href="https://github.com/Kashugoyal" class="icon alt fa-github"><span class="label">GitHub</span></a></li>
                  <li><a href="https://linkedin.com/in/kashish-goyal" class="icon alt fa-linkedin"><span class="label">LinkedIn</span></a></li>
                  <li><a href="https://kgoyal.wordpress.com" class="icon alt fa-wordpress"><span class="label">Wordpress</span></a></li>
                  <li><a href="files/resume.pdf" title="View Resume" class="icon alt fa-file-pdf-o"><span class="label">Resume</span></a></li>


                </ul>
                <ul class="copyright">
                  <li>&copy; Kashish Goyal, 2018</li><li>Design: <a href="https://html5up.net">HTML5 UP</a></li>
                </ul>
              </div>
            </footer>

          </div>

          <!-- Scripts -->
          <script src="assets/js/jquery.min.js"></script>
          <script src="assets/js/jquery.scrolly.min.js"></script>
          <script src="assets/js/jquery.scrollex.min.js"></script>
          <script src="assets/js/skel.min.js"></script>
          <script src="assets/js/util.js"></script>
          <!--[if lte IE 8]><script src="assets/js/ie/respond.min.js"></script><![endif]-->
          <script src="assets/js/main.js"></script>

        </body>
        </html>