This project aims to design a control algorithm for a 3 DOF robot arm to navigate through complex environment and complete various tasks. The tasks include inserting the end effector into a hole accurately with desired depth; moving past a obstacle and travel through a steep S channel and apply precisely 5N of pressure on the red plastic egg.

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    The team developed  task space PID control in C to direct the end effector follow a  designated trajectory. Impedance control is implemented to enhances safety by adapting to unexpected interactions and preventing collisions with humans or other objects.

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   Testing shows that the combined control approach effectively maintains the desired trajectory and regulates the contact force, successfully executing the designated tasks under varied conditions.