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PRJ / 08 · Robotics and control
5-DOF Active Compliant Robotic Arm
A five-axis robotic arm using custom FOC drives, magnetic encoder feedback, inverse kinematics, and active compliance control.
01 / Overview
A multi-joint robotic arm developed around closed-loop motor control and software-defined compliance for safer physical interaction.
Objectives
- Correct joint step loss through encoder feedback
- Coordinate five degrees of freedom through inverse kinematics
- Implement active compliance under contact
My role
[Add your exact role, ownership, dates, and collaborators.]
02 / Problem
A useful compliant arm must coordinate precise joint positioning with torque behavior that yields safely under contact forces.
03 / System architecture
01Motion command
02IK and Jacobian control
03Inter-joint CAN bus
04FOC joint drives
Hardware
- Five-axis arm mechanism
- Custom FOC driver per joint
- Magnetic encoder feedback
- CAN-connected joint electronics
Firmware / software
- 5-DOF inverse kinematics
- Jacobian-transpose torque control
- Step-loss correction
- Active compliance control
04 / Development process
Process
[Add mechanical, electronics, control-tuning, and validation stages.]
Challenges
[Add control stability, calibration, communication, and safe-contact challenges.]
05 / Results
The control system yields under contact forces while maintaining closed-loop joint feedback. [Add verified test results.]
06 / Image gallery
IMAGE / 01[Add prototype photograph]
IMAGE / 02[Add detail photograph]
DIAGRAM / 01[Add architecture visual]
Technologies used
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