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Senior Project — 3-DOF Mobile Manipulator

This senior capstone project develops a custom 3-DOF robotic arm mounted on a mobile base. It extends the concepts from the semester project (5-DOF KUKA youBot) and focuses on original mechanical design plus MATLAB-based modeling and control.

📌 Project Overview

  • System: Mobile base + custom 3-DOF arm.
  • Focus: Kinematics, dynamics, and controller design in MATLAB.
  • Design assets: Full CAD models for the arm and base.

📦 Project Structure

Folder Description
matlab/ Control, kinematics, dynamics, and simulation scripts
cad/ CAD design files for the custom arm and base
docs/ Project documentation and report material
media/ Figures and media used in documentation

🚦 Usage Instructions

MATLAB Simulation

  1. Open MATLAB and set the working directory to senior-project/matlab/.
  2. Run the main script for the simulation and analysis.

CAD Files

  • Open the files in cad/ with your preferred CAD software (e.g., SolidWorks).

⚙️ Key Differences from Semester Project

Feature Semester Project (5-DOF KUKA) Senior Project (3-DOF Custom)
Robot KUKA youBot Custom-designed
DOF 5 3
Base Mecanum-wheel omnidirectional Mobile base
CAD source CATIA V5 → URDF Custom CAD files
Simulator CoppeliaSim + ROS + MATLAB MATLAB + CoppeliaSim

📷 Media

See the media/ folder for figures and documentation visuals.