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Development and Control of a Robot Using LQR Control

This project focused on designing, simulating, and implementing a robotic system controlled by a Linear Quadratic Regulator (LQR). The work involved solving the mathematical model of the robot, developing the hardware from scratch, and validating the results through simulation and real-world testing.

Key Features and Contributions

1. Mathematical Modeling and Control Design

• Developed a precise mathematical model of the robotic system to understand its dynamics and behavior.
• Designed an LQR controller, optimizing the control inputs to ensure stability and efficiency while minimizing energy usage and control effort.

2. Simulation in CoppeliaSim

• Simulated the robot and its control system in the CoppeliaSim simulator, verifying the accuracy of the mathematical model and the performance of the LQR controller in a virtual environment.
• Fine-tuned the control parameters to achieve smooth and precise robotic motion.

3. Hardware Development and Implementation

• Built the robotic hardware from scratch, including structural, electronic, and actuation components.
• Integrated the LQR control algorithm into the hardware, ensuring real-time control performance.
• Successfully validated the hardware by replicating the results from the CoppeliaSim simulation, demonstrating consistency and reliability.

Key Achievements

• Bridged the gap between simulation and hardware implementation, ensuring the LQR controller performed as expected in both environments.
• Developed a fully functional robot with robust control, highlighting the synergy between theoretical modeling, simulation, and practical hardware development.