Project Info
Advanced robot arm control
Xiaoli Zhang
xlzhang@mines.edu
Project Goals and Description:
- Model the 6-Dof Elfin robot arm in the simulation platform
- Develop control algorithms to control the Elfin robot arm to follow different from of commands (joint and end-effector)
- Evaluate the developed control algorithms on both simulated and physical robot arms.
More Information:
Grand Challenge: Engineer the tools of scientific discovery.
- https://www.hansrobot.net/?gclid=Cj0KCQjw27mhBhC9ARIsAIFsETHPBHtYR8mP4Mx3_H2XaBRQ0ehdJlA3FqBCPrU0-PqmTe67h0SsdWoaArecEALw_wcB
- https://github.com/hans-robot/elfin_robot
Primary Contacts:
Xiaoli Zhang, xlzhang@mines.edu | Lingfeng Tao, tao@mines.edu | Yunsik Jung, yunsikjung@mines.edu
Student Preparation
Qualifications
- Knowledge of kinematics and dynamics
- Knowledge of basic control methods
- Programming ability (Matlab, Python, C++)
TIME COMMITMENT (HRS/WK)
8
SKILLS/TECHNIQUES GAINED
- Understand the control of the multi-joint robot arm
- Modeling and optimization of robot arm
- Advanced robot control methods (model predictive control, inverse kinematics, deep reinforcement learning)
- Robot Operating System (ROS)
MENTORING PLAN
- Prepare robot operation tutorials
- Provide necessary resources like literature and open-source code
- One-on-one mentoring in the lab
- Weekly meeting to track progress and answer questions
- Assign Ph.D. students as the co-mentor
PREFERRED STUDENT STATUS
Freshman
Sophomore
Junior
Senior