As the term project of my Real-Time Control course, I developed a control system that positions the end-effector of a 2-degree-of-freedom serial robot arm with high precision.
Highlights
- PID control parameters can be tuned dynamically at runtime through a MATLAB App + Simulink interface.
- Encoder data was acquired in real time via Arduino.
- End-effector movements were validated with OptiTrack motion-capture cameras, achieving high tracking accuracy.
Why it matters
Closing the loop between model-based design (Simulink) and real hardware — making sure a controller tuned in simulation behaves as expected on real motors — is one of the most critical skills in industrial robotics. This project builds exactly that bridge.