Stack: Python
Highlights
- Created a robotic manipulation simulation for the KUKA youBot (4-wheeled omnidirectional mobile base + 5R arm), implementing trajectory generation using screw theory, SE(3) transformations, and Mecanum wheel kinematics
- Built a PI feedback control system with pseudoinverse Jacobian for end-effector tracking, incorporating joint limit constraints and singularity handling for stable pick-and-place operations
- Designed a modular codebase with configuration management and comprehensive error visualization, enabling autonomous manipulation tasks with error convergence across test scenarios