├── Code ├── FeedbackControl.m ├── Main.m ├── NextStatey.m └── TrajectoryGeneratorr.m ├── LICENSE ├── README.md ├── Results ├── best │ ├── Error Plot.png │ ├── Output Log.txt │ ├── ReadME.txt │ ├── best.csv │ └── best.mp4 ├── ehee.gif ├── eheee.gif ├── newTask │ ├── Error Plot.png │ ├── Output log.txt │ ├── ReadME.txt │ ├── newTask.csv │ ├── newTask.gif │ └── newTask.mp4 └── overshoot │ ├── Error Plot.png │ ├── Output Log.txt │ ├── ReadME.txt │ ├── overshoot.csv │ └── overshoot.mp4 └── Yeni Metin Belgesi.txt /Code/FeedbackControl.m: -------------------------------------------------------------------------------- 1 | function [Vd, V, Je, u_theta_dot, Xerr, Xerr_integral] = FeedbackControl(X, Xd, Xd_next, Kp, Ki, delta_t, thetaList, Xerr_integral) 2 | 3 | %% Arm properties. 4 | Blist = [0 0 1 0 0.033 0; 0 -1 0 -0.5076 0 0; 0 -1 0 -0.3526 0 0; 0 -1 0 -0.2176 0 0; 0 0 1 0 0 0]'; 5 | l = 0.47/2; 6 | w = 0.30/2; 7 | r = 0.0475; 8 | F = (r/4) * [-1/(l + w), 1/(l + w), 1/(l + w), -1/(l + w); 1 1 1 1; -1 1 -1 1]; 9 | sizee = size(F); 10 | m = sizee(2); 11 | zeross = zeros(1, m); 12 | F6 = [zeross; zeross; F; zeross]; 13 | 14 | Tb0 = [1 0 0 0.1662; 0 1 0 0; 0 0 1 0.0026; 0 0 0 1]; 15 | M0e = [1 0 0 0.033; 0 1 0 0; 0 0 1 0.6546; 0 0 0 1]; 16 | T0e = FKinBody(M0e, Blist, thetaList); 17 | Tbe = Tb0 * T0e; 18 | Teb = TransInv(Tbe); 19 | Jbase = Adjoint(Teb) * F6; 20 | Jarm = JacobianBody(Blist, thetaList); 21 | Je = [Jbase, Jarm]; 22 | psInv = pinv(Je, 1e-2); 23 | 24 | Xerr_bracket = MatrixLog6(TransInv(X) * Xd); 25 | Xerr = se3ToVec(Xerr_bracket); 26 | Xerr_integral = Xerr_integral + (delta_t * Xerr); 27 | Vd_bracket = (1/delta_t) * (MatrixLog6(inv(Xd) * Xd_next)); 28 | Vd = se3ToVec(Vd_bracket); 29 | 30 | Adj = Adjoint(inv(X) * Xd); 31 | Feedforward = Adj * Vd; 32 | V = Feedforward + (Kp * Xerr) + Ki * Xerr_integral; 33 | %V = round(V, 3); 34 | 35 | u_theta_dot = psInv * V; 36 | %u_theta_dot = round(u_theta_dot, 1); 37 | 38 | %u_theta_dot(1) = temp(5); 39 | %u_theta_dot(2) = temp(6); 40 | %u_theta_dot(3) = temp(7); 41 | %u_theta_dot(4) = temp(8); 42 | %u_theta_dot(5) = temp(9); 43 | %u_theta_dot(6) = temp(1); 44 | %u_theta_dot(7) = temp(2); 45 | %u_theta_dot(8) = temp(3); 46 | %u_theta_dot(9) = temp(4); 47 | 48 | end -------------------------------------------------------------------------------- /Code/Main.m: -------------------------------------------------------------------------------- 1 | clc 2 | clear 3 | 4 | %% ROBOT PROPERTIES: 5 | tic 6 | Blist = [0 0 1 0 0.033 0; 0 -1 0 -0.5076 0 0; 0 -1 0 -0.3526 0 0; 0 -1 0 -0.2176 0 0; 0 0 1 0 0 0]'; 7 | Tb0 = [1, 0, 0, 0.1662; 0, 1, 0, 0; 0, 0, 1, 0.0026; 0, 0, 0, 1]; 8 | M0e = [1 0 0 0.033; 0 1 0 0; 0 0 1 0.6546; 0 0 0 1]; 9 | 10 | l = 0.47/2; 11 | w = 0.30/2; 12 | r = 0.0475; 13 | z = 0.0963; 14 | F = (r/4) * [-1/(l + w), 1/(l + w), 1/(l + w), -1/(l + w); 1 1 1 1; -1 1 -1 1]; 15 | 16 | sizee = size(F); 17 | m = sizee(2); 18 | zeross = zeros(1, m); 19 | F6 = [zeross; zeross; F; zeross]; 20 | 21 | %% FEEDFORWARD AND PI CONTROL GAINS: 22 | delta_t = 0.01; 23 | 24 | kp = 20; 25 | ki = 17; 26 | Kp = kp*eye(6); 27 | Ki = ki*eye(6); 28 | 29 | %% TRAJECTORY PLANNING: 30 | Tse_initial = [0.921060994002885 0 0.389418342308651 0.829087881643154; 0 1 0 0; -0.389418342308651 0 0.921060994002885 0.648543375559790; 0 0 0 1]; 31 | Tsc_initial = [1 0 0 1; 0 1 0 0; 0 0 1 0.025; 0 0 0 1]; 32 | Tsc_final = [0 1 0 0; -1 0 0 -1; 0 0 1 0.025; 0 0 0 1]; 33 | Tce_standoff = [1 0 0 0; 0 1 0 0; 0 0 1 0.2; 0 0 0 1] * [cosd(100), 0, sind(100) 0; 0, 1, 0 0; -sind(100), 0, cosd(100), 0; 0 0 0 1]; 34 | Tce_grasp = [1 0 0 0; 0 1 0 0; 0 0 1 0; 0 0 0 1] * [cosd(100), 0, sind(100) 0; 0, 1, 0 0; -sind(100), 0, cosd(100), 0; 0 0 0 1]; 35 | 36 | movement = TrajectoryGeneratorr(Tse_initial, Tsc_initial, Tsc_final, Tce_grasp, Tce_standoff, 1); 37 | positionSize = size(movement); 38 | positionSize = positionSize(1) - 1; 39 | 40 | %% ACTUAL CONFIGURATIONS AND FEEDFORWARD AND PI CONTROL: 41 | % Setting an initial configuration 42 | conf1 = [0.5 0.35 0.6 0 -1.0 0.5 0.1 0 0 0 0 0]; 43 | confList(1, :) = conf1(1,:); 44 | error = []; 45 | error2 = []; 46 | errorSize = size(error); 47 | errorSize = errorSize(1); 48 | error2Size = size(error2); 49 | error2Size = error2Size(1); 50 | 51 | Tsb = [cos(conf1(1)), -sin(conf1(1)), 0, conf1(2); sin(conf1(1)), cos(conf1(1)), 0, conf1(3); 0, 0, 1, z; 0, 0, 0, 1 ]; 52 | T0e = FKinBody(M0e, Blist, conf1(4:8)'); 53 | Tse = Tsb * Tb0 * T0e; 54 | X = Tse; 55 | Tse1 = movement(1, :); 56 | Tse11 = [Tse1(1), Tse1(2), Tse1(3), Tse1(10); Tse1(4), Tse1(5), Tse1(6), Tse1(11); Tse1(7), Tse1(8), Tse1(9), Tse1(12); 0, 0, 0, 1]; 57 | Xd1 = Tse11; 58 | Xerr_bracket = MatrixLog6(TransInv(X) * Xd1); 59 | Xerr = se3ToVec(Xerr_bracket); 60 | 61 | Xerr_integral = Xerr; 62 | for i = 1 : positionSize 63 | Tse1 = movement(i, :); 64 | Tse2 = movement(i+1, :); 65 | Tse1 = [Tse1(1), Tse1(2), Tse1(3), Tse1(10); Tse1(4), Tse1(5), Tse1(6), Tse1(11); Tse1(7), Tse1(8), Tse1(9), Tse1(12); 0, 0, 0, 1]; 66 | Tse2 = [Tse2(1), Tse2(2), Tse2(3), Tse2(10); Tse2(4), Tse2(5), Tse2(6), Tse2(11); Tse2(7), Tse2(8), Tse2(9), Tse2(12); 0, 0, 0, 1]; 67 | 68 | Xd1 = Tse1; 69 | Xd2 = Tse2; 70 | 71 | [Vd, V, Je, controls, Xerr, Xerr_integral] = FeedbackControl(X, Xd1, Xd2, Kp, Ki, delta_t, conf1(i, 4:8), Xerr_integral); 72 | error(errorSize+1, :) = Xerr'; 73 | errorSize = size(error); 74 | errorSize = errorSize(1); 75 | 76 | error2(error2Size+1, :) = Xerr_integral'; 77 | error2Size = size(error2); 78 | error2Size = error2Size(1); 79 | 80 | conf1(i+1,:) = NextStatey(conf1(i,:), [controls(5:9)', controls(1:4)'], delta_t, 10000); 81 | confList(i+1, :) = conf1(i+1, :); 82 | 83 | phi = conf1(i+1, 1); 84 | x = conf1(i+1, 2); 85 | y = conf1(i+1, 3); 86 | Tsb = [cos(conf1(i+1, 1)), -sin(conf1(i+1, 1)), 0, conf1(i+1, 2); sin(conf1(i+1, 1)), cos(conf1(i+1, 1)), 0, conf1(i+1, 3); 0, 0, 1, z; 0, 0, 0, 1 ]; 87 | T0e = FKinBody(M0e, Blist, conf1(i+1, 4:8)'); 88 | X = Tsb*Tb0*T0e; 89 | Xd1 = []; 90 | Xd2 = []; 91 | end 92 | 93 | for i = 1 : positionSize + 1 94 | confList(i,13) = movement(i, 13); 95 | end 96 | 97 | disp('Generating the animation file.') 98 | writematrix(confList, 'newTask.csv') 99 | disp('Plotting the Error Graph') 100 | plot(error2) 101 | legend('wbx', 'wby', 'wbz', 'vbx', 'vby', 'vbz') 102 | title('Error Twists (Kp = 20, Ki = 17)') 103 | xlabel('Time (0.01 seconds)') 104 | ylabel('Error') 105 | 106 | 107 | toc -------------------------------------------------------------------------------- /Code/NextStatey.m: -------------------------------------------------------------------------------- 1 | function newConfiguration = NextStatey(currentConfiguration, controls, delta_t, limit) 2 | 3 | %% Assigning the properties of the robot: 4 | l = 0.47/2; 5 | w = 0.30/2; 6 | r = 0.0475; 7 | 8 | %% Assigning current and new configurations and speeds: 9 | currentJoints = currentConfiguration(4:8)'; 10 | currentWheels = currentConfiguration(9:12)'; 11 | armJointSpeeds = controls(1:5)'; 12 | wheelSpeeds = controls(6:9)'; 13 | newJoints = currentJoints + (armJointSpeeds .* delta_t); 14 | newWheels = currentWheels + (wheelSpeeds .* delta_t); 15 | Tsbk = [cos(currentConfiguration(1)), -sin(currentConfiguration(1)), 0, currentConfiguration(2); sin(currentConfiguration(1)), cos(currentConfiguration(1)), 0, currentConfiguration(3); 0, 0, 1, 0.0963; 0, 0, 0, 1]; 16 | 17 | %% Calculating deltaTheta to initiate the odometry process: 18 | deltaTheta = newWheels - currentWheels; 19 | thetaDot = deltaTheta/delta_t; 20 | 21 | Vb = (r/4) * [-1 / (l + w), 1 / (l + w), 1 / (l + w), -1 / (l + w); 1, 1, 1, 1; -1, 1, -1, 1] * deltaTheta; 22 | Vb6 = [0; 0; Vb; 0]; 23 | newChassisRelative = expm(VecTose3(Vb6)); 24 | Tsbk1 = Tsbk * newChassisRelative; 25 | 26 | phi = acos(Tsbk1(1,1)); 27 | x = Tsbk1(1, 4); 28 | y = Tsbk1(2, 4); 29 | 30 | chass = [phi x y]; 31 | 32 | newConfiguration = [chass'; newJoints; newWheels]'; 33 | 34 | end -------------------------------------------------------------------------------- /Code/TrajectoryGeneratorr.m: -------------------------------------------------------------------------------- 1 | function movement = TrajectoryGeneratorr(Tse_initial, Tsc_initial, Tsc_final, Tce_grasp, Tce_standoff, k) 2 | 3 | Tse_standoff = Tsc_initial * Tce_standoff; 4 | Tse_grasp = Tsc_initial * Tce_grasp; 5 | Tce_standoff_2 = [1 0 0 0; 0 1 0 0; 0 0 1 0.1; 0 0 0 1] * [cosd(100), 0, sind(100) 0; 0, 1, 0 0; -sind(100), 0, cosd(100), 0; 0 0 0 1]; 6 | Tse_standoff_2 = Tsc_final * Tce_standoff_2; 7 | Tse_final = Tsc_final * [cosd(100), 0, sind(100) 0; 0, 1, 0 0; -sind(100), 0, cosd(100), 0; 0 0 0 1]; 8 | 9 | trajectory1 = ScrewTrajectory(Tse_initial, Tse_standoff, 10, 10/0.01, 3); 10 | trajectory2 = ScrewTrajectory(Tse_standoff, Tse_grasp, 5, 5/0.01, 3); 11 | trajectory3 = ScrewTrajectory(Tse_grasp, Tse_standoff, 5, 5/0.01, 3); 12 | trajectory4 = ScrewTrajectory(Tse_standoff, Tse_standoff_2, 10, 10/0.01, 3); 13 | trajectory5 = ScrewTrajectory(Tse_standoff_2, Tse_final, 5, 5/0.01, 3); 14 | trajectory6 = ScrewTrajectory(Tse_final, Tse_standoff_2, 5, 5/0.01, 3); 15 | 16 | for i = 1 : length(trajectory1) 17 | traj1(i,:) = [trajectory1{i}(1,1) trajectory1{i}(1,2) trajectory1{i}(1,3) trajectory1{i}(2,1) trajectory1{i}(2,2) trajectory1{i}(2,3) trajectory1{i}(3,1) trajectory1{i}(3,2) trajectory1{i}(3,3) trajectory1{i}(1, 4) trajectory1{i}(2, 4) trajectory1{i}(3, 4)]; 18 | end 19 | 20 | for i = 1 : length(trajectory2) 21 | traj2(i,:) = [trajectory2{i}(1,1) trajectory2{i}(1,2) trajectory2{i}(1,3) trajectory2{i}(2,1) trajectory2{i}(2,2) trajectory2{i}(2,3) trajectory2{i}(3,1) trajectory2{i}(3,2) trajectory2{i}(3,3) trajectory2{i}(1, 4) trajectory2{i}(2, 4) trajectory2{i}(3, 4)]; 22 | end 23 | 24 | for i = 1 : length(trajectory3) 25 | traj3(i,:) = [trajectory3{i}(1,1) trajectory3{i}(1,2) trajectory3{i}(1,3) trajectory3{i}(2,1) trajectory3{i}(2,2) trajectory3{i}(2,3) trajectory3{i}(3,1) trajectory3{i}(3,2) trajectory3{i}(3,3) trajectory3{i}(1, 4) trajectory3{i}(2, 4) trajectory3{i}(3, 4)]; 26 | end 27 | 28 | for i = 1 : length(trajectory4) 29 | traj4(i,:) = [trajectory4{i}(1,1) trajectory4{i}(1,2) trajectory4{i}(1,3) trajectory4{i}(2,1) trajectory4{i}(2,2) trajectory4{i}(2,3) trajectory4{i}(3,1) trajectory4{i}(3,2) trajectory4{i}(3,3) trajectory4{i}(1, 4) trajectory4{i}(2, 4) trajectory4{i}(3, 4)]; 30 | end 31 | 32 | for i = 1 : length(trajectory5) 33 | traj5(i,:) = [trajectory5{i}(1,1) trajectory5{i}(1,2) trajectory5{i}(1,3) trajectory5{i}(2,1) trajectory5{i}(2,2) trajectory5{i}(2,3) trajectory5{i}(3,1) trajectory5{i}(3,2) trajectory5{i}(3,3) trajectory5{i}(1, 4) trajectory5{i}(2, 4) trajectory5{i}(3, 4)]; 34 | end 35 | 36 | for i = 1 : length(trajectory6) 37 | traj6(i,:) = [trajectory6{i}(1,1) trajectory6{i}(1,2) trajectory6{i}(1,3) trajectory6{i}(2,1) trajectory6{i}(2,2) trajectory6{i}(2,3) trajectory6{i}(3,1) trajectory6{i}(3,2) trajectory6{i}(3,3) trajectory6{i}(1, 4) trajectory6{i}(2, 4) trajectory6{i}(3, 4)]; 38 | end 39 | 40 | traj1(:, 13) = 0; 41 | traj2(1:200, 13) = 0; 42 | traj2(201:300, 13) = 0; 43 | traj3(:, 13) = 1; 44 | traj4(:, 13) = 1; 45 | traj5(:, 13) = 1; 46 | traj6(1:10, 13) = 1; 47 | traj6(11:300, 13) = 0; 48 | 49 | movement = [traj1; traj2; traj3; traj4; traj5; traj6]; 50 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # youbot-Pick-and-Place-with-PI-Control 2 | ### Conducted as the Capstone Project of Modern Robotics: Mechanics, Planning, and Control Specialization by Northwestern University, offered on Coursera. (Uses Modern Robotics Library which can be found here, on Github) 3 | 4 | The project aims to make the mobile manipulator youBot pick a cube from an initial configuration and tranport it to a desired location before dropping it off. 5 | 6 | The program uses 3 separate functions to achieve this. TrajectoryGenerator first creates a reference trajectory for the end-effector of the youBot. After an initial configuration 7 | is selected, FeedbackControl function calculates the error between the actual and the reference configuration and finds the control vector to be commanded. Then the NextState 8 | function calculates the new configuration for the robot in order to move the robot towards the objective. 9 | 10 | 11 | ![youBot](http://hades.mech.northwestern.edu/images/thumb/5/57/Youbot-capstone.png/384px-Youbot-capstone.png) 12 | 13 | Controller Information: 14 | 15 | The controller used to move the robot is Feedforward PI Controller. The controller is tested with different Kp and Ki gains to see the error response. 16 | 17 | Feedforward PI with Kp = 100, Ki = 210 18 | 19 | ![Feedforward PID with Kp = 100, Ki = 210.](https://github.com/kucar17/youbot-Pick-and-Place-with-PI-Control/blob/master/Results/newTask/Error%20Plot.png) 20 | 21 | Feedforward PI with Kp = 62, Ki = 19 22 | 23 | ![Feedforward PI with Kp = 62, Ki = 19](https://github.com/kucar17/youbot-Pick-and-Place-with-PI-Control/blob/master/Results/best/Error%20Plot.png) 24 | 25 | With the 100 and 210 being Kp and Ki gains, respectively, an example response to a large initial configuration error looks like this: 26 | 27 | ![System response when Kp = 100 and Ki = 210](https://github.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/blob/master/Results/ehee.gif?raw=true) 28 | 29 | With gains which are not tuned very well, system may behave oscillatory or even unstable. An oscillatory response looks like this: 30 | 31 | ![Oscillatory system response](https://github.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/blob/master/Results/eheee.gif?raw=true) 32 | 33 | An example run of the program looks like this on simulation environment (Coppelia Sim): 34 | 35 | ![Robot doing its job](https://github.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/blob/master/Results/newTask/newTask.gif) 36 | -------------------------------------------------------------------------------- /Results/best/Error Plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/best/Error Plot.png -------------------------------------------------------------------------------- /Results/best/Output Log.txt: -------------------------------------------------------------------------------- 1 | Generating the animation file. 2 | Plotting the Error Graph 3 | Elapsed time is 1.889169 seconds. -------------------------------------------------------------------------------- /Results/best/ReadME.txt: -------------------------------------------------------------------------------- 1 | Controller Used: Feedforward PID with Kp = 62, Ki = 19. 2 | 3 | Initial Block Configuration (x, y, phi) = (1 m, 0 m, 0 rad) 4 | Final Block Configuration (x, y, phi) = (0 m, -1 m, pi/2 rad) -------------------------------------------------------------------------------- /Results/best/best.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/best/best.mp4 -------------------------------------------------------------------------------- /Results/ehee.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/ehee.gif -------------------------------------------------------------------------------- /Results/eheee.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/eheee.gif -------------------------------------------------------------------------------- /Results/newTask/Error Plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/newTask/Error Plot.png -------------------------------------------------------------------------------- /Results/newTask/Output log.txt: -------------------------------------------------------------------------------- 1 | Generating the animation file. 2 | Plotting the Error Graph 3 | Elapsed time is 2.707724 seconds. -------------------------------------------------------------------------------- /Results/newTask/ReadME.txt: -------------------------------------------------------------------------------- 1 | Controller Used: Feedforward PID with Kp = 100, Ki = 210. 2 | 3 | Initial Block Configuration (x, y, phi) = (0 m, -1 m, -pi/2 rad) 4 | Final Block Configuration (x, y, phi) = (1 m, 0 m, 0 rad) 5 | 6 | Exact opposite of the first two simulations. -------------------------------------------------------------------------------- /Results/newTask/newTask.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/newTask/newTask.gif -------------------------------------------------------------------------------- /Results/newTask/newTask.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/newTask/newTask.mp4 -------------------------------------------------------------------------------- /Results/overshoot/Error Plot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/overshoot/Error Plot.png -------------------------------------------------------------------------------- /Results/overshoot/Output Log.txt: -------------------------------------------------------------------------------- 1 | Generating the animation file. 2 | Plotting the Error Graph 3 | Elapsed time is 4.011764 seconds. -------------------------------------------------------------------------------- /Results/overshoot/ReadME.txt: -------------------------------------------------------------------------------- 1 | Controller Used: Feedforward PID with Kp = 20, Ki = 17. 2 | 3 | Initial Block Configuration (x, y, phi) = (1 m, 0 m, 0 rad) 4 | Final Block Configuration (x, y, phi) = (0 m, -1 m, pi/2 rad) -------------------------------------------------------------------------------- /Results/overshoot/overshoot.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/kucar17/youbot-Pick-and-Place-with-Feedforward-and-PI-Control/cecf277b69a668e6e4bb582a83e5bb22ea7e59a2/Results/overshoot/overshoot.mp4 -------------------------------------------------------------------------------- /Yeni Metin Belgesi.txt: -------------------------------------------------------------------------------- 1 | Currently working on joint limits to avoid singularities and self collisions. Also trying to find the best gains to make the system perform well with all inputs. --------------------------------------------------------------------------------