Modern Robot Control

• Project Overview
• This project focuses on the design of a sophisticated robot controller for a 2-link robot arm, using simulations in both Gazebo and Matlab.

• Controller Design Stages
• Initiates with the design of a feedback linearization controller.
• Advances to partial feedback linearization to refine control precision.
• Incorporates robust and adaptive control techniques to handle dynamic model uncertainties.

• Control Algorithm Capabilities
• Engineered to precisely track desired trajectories.
• Effectively stabilizes the robot arm at its upward equilibrium point despite external disturbances and model inaccuracies.