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Model Predictive Control for Ball Bouncing on a Robot Arm
dc.contributor.authorDai, Xingze
dc.contributor.advisorOzay, Necmiye
dc.date.accessioned2023-05-26T17:53:12Z
dc.date.available2023-05-26T17:53:12Z
dc.date.issued2023
dc.identifier.urihttps://hdl.handle.net/2027.42/176712
dc.description.abstractThis project designs and utilizes a model predictive controller to control a robot arm to wield a paddle and send a ball to a certain height by bouncing it on the paddle. Simulations are conducted to realize the project in a virtual environment. A full stack development from algorithm to hardware implementation is also performed.
dc.subjectModel predictive control
dc.subjectKINOVA KORTEX
dc.subjectball bouncing
dc.subjectDrake simulator
dc.titleModel Predictive Control for Ball Bouncing on a Robot Arm
dc.typeProject
dc.subject.hlbtoplevelEngineering
dc.description.peerreviewedPeer Reviewed
dc.contributor.affiliationumMechanical Engineering
dc.contributor.affiliationumcampusAnn Arbor
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/176712/1/Honors_Capstone_Report_-_Xingze_Dai.pdf
dc.description.bitstreamurlhttp://deepblue.lib.umich.edu/bitstream/2027.42/176712/2/Honors_Capstone_Poster_-_Xingze_Dai.pdf
dc.identifier.doihttps://dx.doi.org/10.7302/7561
dc.working.doi10.7302/7561en
dc.owningcollnameHonors Program, The College of Engineering


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