Lego-Building SCARA Robot
Led a SCARA robot build for a graduate robotics course — taken as a sophomore. Custom hardware, analytical IK from DH parameters, and trapezoidal velocity trajectories.
This project was completed as part of a graduate robotics course I took as a sophomore — I led the team. We built a SCARA robot arm from scratch for a Lego pick-and-place task: custom laser-cut acrylic structure, hobby servo actuators, and an Arduino Mega controller.
Forward and inverse kinematics were derived analytically from DH parameters. The pick sequence used trapezoidal velocity trajectories between waypoints. Pickup positions were manually defined rather than vision-detected — the focus was on implementing the kinematics correctly and getting clean, reliable motion out of the hardware.
