Projects in Mechanics of Robot Manipulators Class
(August 2021 ~ December 2021)

The robot arm that has no more than 3 degrees of freedom would be chosen and designed that could be used in the factory such as classifying the product, putting the product in the tray, and moving the product. To make a desirable product, the kinematics method, control techniques, and adaptive control algorithm are used. Finally, With motivations from this project, the robot arm could be designed more than 3 degrees of freedom for different prupose in the future.

The Dubins vehicle (path planning) can be utilized in the autonomous system in robots. This could help to understand and calculate the optimal value between points. The algorithm of Dubins vehicle is written in two different ways which are CS and SC methods. In these methods, the curves and segments are used to measure the optimal distance. The points and its degree would be given. To get a length of curve, the coordinate of a circle needs to be calculated. Through this project, it could expect that the algorithm that possibly be applied to other autonomous machine could be conducted using more developed technology in the future similar to this project.