High-Frequency Shape-Drawing Robotic Wrist 2024

Developed a 2 Degree-of-Freedom (DOF) robotic wrist equipped with a laser pointer as the end effector, capable of drawing complex shapes at high frequencies.

Engineered a sophisticated control system to govern the movement of the robotic wrist. Incorporated PID logic for real-time adjustments, enhancing the accuracy of shape drawing.

Integrated various sensors to detect and respond to environmental changes. Implemented Fault Detection and Diagnostics (FDD) with Weighted Sum Filters for enhanced sensor data accuracy and reliability.

Wrote and optimized Interrupt Service Routine (ISR) code for STM microcontrollers in C, achieving efficient handling of high-frequency tasks and sensor inputs.

Successfully integrated mechanical and electronic components, demonstrating a fully functional prototype. Conducted rigorous testing to validate the design, control logic, and overall system performance.

Integrated Bluetooth via ESP32 for remote control and implemented an ultrasonic sensor to detect wall distances, enabling precise manual and automatic adjustments of the shape's proportion.