Precise and fast position control is needed in many areas of industries but generally that demands high rigid from system. This rigidity comes at a cost of payload capacity. In this project, Input shaping is used to suppress the vibration in a flexible beam that is being rotated by a stepper motor. Using method will allow designers to reduce the robot weight while maintaining accuracy and performance (for ex. topologically optimized parts for robotic arm). This method is also very useful for applications with very low friction or damping coefficients, for ex in cranes, space applications.

This project is a DIY 3-axis robotic crane built using Arduino UNO, cardboard, and low-cost motors. It demonstrates how simple components can create a functional robotic system capable of rotation, arm movement, and lifting — similar to a real construction crane.

This joystick-controlled crane arm uses two servos for smooth 360° base rotation, one servo for vertical arm movement, and a gripper servo for grabbing and releasing objects. The joystick’s X-axis rotates the base, the Y-axis lifts or lowers the arm, and the button toggles the gripper between open and closed states.

A Python library for real-time rope and cable simulation for robotics, cranes, and suspended systems.

This project involves the development of a two-load crane control system, implemented as part of the ENPM667 Robotics course. The main objective was to enhance the crane's dynamic response and stability using advanced control algorithms.

This repository includes two projects completed as part of the coursework. The first project involves replicating a research paper comparing controllers for a differential drive robot. The second project focuses on implementing LQR and LQG controllers for a crane system using MATLAB. Both projects demonstrate the knowledge acquired during the cours