3-Link Robotic Arm Simulation

  The 3-Link Robotic Arm, crafted and simulated in MATLAB, serves as a versatile model for testing control algorithms. The model, validated through energy conservation, guarantees accurate results. Trajectory generation, featuring cubic trajectories and differential flatness, enables precise point-to-point movements.

  The application of three controllers - proportional, feedforward + proportional, and feedforward + LQR - provides insights into the different controllers strengths and weaknesses. Figures and metrics highlight the feedforward + optimal controller's efficiency in achieving low error with optimal actuation.

  Current efforts focus on adding inverse kinematics and real-time tracking capabilities to the robotic arm. This enhancement will enable the robot to dynamically track and follow the mouse position using inverse kinematics. Future plans involve leveraging my mechanical design background to create a custom 3D-printed robotic arm, bringing these features to life in a physical embodiment.