Developed dynamic equations of motion using Lagrangian mechanics. Derived state-space representations and linearized the nonlinear system. Designed and tuned a Linear Quadratic Regulator (LQR) for optimal balance and disturbance rejection.
Implemented control on an STM32 microcontroller (STM446RE). Processed real-time sensor data from an MPU6050 IMU. Used PWM-based motor control to adjust motor torque dynamically
Applied a Kalman filter for sensor data fusion to reduce noise. Analyzed IMU sensor noise and integrated accelerometer/gyroscope data.
Designed and assembled a custom PCB for motor drivers and sensors. Integrated DC motors with encoders for position and velocity feedback. Built and tested a 3D-printed robot chassis, optimizing weight and center of gravity.
Developed a software framework in C for the STM32. Designed a data logging system for IMU readings and motor responses. Implemented planned Bluetooth communication for external control.
Simulated robot dynamics and control response in MATLAB/Simulink. Compared theoretical and simulated results for performance validation. Attempted real-world hardware validation (though PCB errors prevented full execution).
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