This project was completed over a series of homework assignments as part of a team of two in Algorithms for Sensor Based Robotics course taken in the spring of 2024. The goal of the course assignments were to use advanced mathematical concepts in linear algebra, stochastic processes, and optimization to develop applied algorithms for robotic systems utilizing various imaging systems (cameras, optical trackers, etc.) and sensors. Summaries of what was accomplished in each homework assignment are described below:
HW1 - developed functions to convert from rotation matrices to angular representations and vice versa for a serial chain robot using MATLAB. Created a program to determine forward kinematics of a serial chain robot using screw theory.
HW2 - developed forward and inverse kinematics functions for a serial chain robot using MATLAB. Use the redundancy resolution approach to prevent singularities in robot motion.
HW3 - developed registration and both hand eye and pivot calibration algorithms for a serial chain robot using MATLAB.
HW4 - implemented constrained optimization-based control algorithms for a serial chain robot using MATLAB.
Links to the code and presentations for HW2 and HW4 are below. HW1 and HW4 did not have presentations associated with them.