ME446 is a practical class that teaches us about the different types of control algorithms and how to implement them. CRS Robot is chosen as the robot to implement the controller as it only has joint angle sensors and can only control the absolute torque making it an ideal robot for applying controls from scratch.
The class aimed to implement different types of controls in increasing difficulty - PD, PID, forward dynamics, Inverse Dynamics with friction control, Impedance control, and Task Space controls. The video below demonstrates our final project where we have to travel through a specified trajectory with minimum time and apply impedance control on the egg to achieve a force between 500-1000 gms. The video shows the robot's robustness and smoothness throughout the trajectory.
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