16-711: Kinematics, Dynamics, and Control
Winter 2023
Final Project
My final project for KDC (Kinematics, Dynamics, and Control) was making a 6 DOF arm play Bananagrams (similar to Scrabble). This involved making a custom end effector that could pick up and put down pieces, redesigning a previously 3D printed arm with aluminum parts, and writing a solver to find the best word given possible tiles.
Code for solver: https://github.com/sofiakwok/scrabble-solver
Course description: Basic concepts and tools for the analysis, design, and control of robotic mechanisms. Topics covered include foundations of kinematics, kinematics of robotic mechanisms, review of basic systems theory, control of dynamic systems. Advanced topics will vary from year-to-year, including motion planning and collision avoidance, adaptive control, and hybrid control.