Ethan Wood-Thomas | Mechanical Engineering

Through ROS, modeled the kinematic motion of a four-wheeled car and four-link robotic arm, using D-H parameters for the arm. Compared the functionality of A* and a Rapidly-Exploring Random Tree for path planning. Wrote and tested PID controls and Model-Predictive Controls for the car. Using the kinematic controls and path planning for the robotic arm, simulated the arm removing objects from a conveyor belt and placing the objects in their correct locations.