Robotics

Robotics Simulation

Five-Bar Robotics: Kinematics and Dynamics

Posted on May 31, 2023May 31, 2023 by Oren A

I built a five-bar robot to play air hockey! The math is discussed here, and the custom hardware will be discussed in my next post!

Here we can see the robot turning in response to the controller turning. The controller sends its estimated angular position from the gyro to the robot over the radio, and then the robot reacts and adjusts its angular position using a PID controller.

Batteries Robotics

Frank the Robot and Real Time Operating Systems

Posted on December 20, 2022December 20, 2022 by Oren A

Frank has been in the works for awhile, but a bunch of progress was recently made! Here I detail his development and his new additions.