Motion Planning & Simulation

For Mobile Robot

About the Project

In this project, I learned about the kinetic properties of KUKA youBot, a 5-DOF serial manipulation arm with omnidirectional mobile platform. Based on its workspace and the desired motion of the end effector, I applied PI velocity control, generated reference trajectory and conducted simulation on V-REP, an virtual experimentation platform for robots.

Skills Involved

  • MATLAB
  • Kinematic Analysis for KUKA youBot
  • Workspace Calculation
  • Trajectory Generation
  • Motion Control
  • Simulation on V-REP

Learn More

It's the final project for ME449: Robotic Manipulation at Northwestern University. The course is also available on Coursera.