Here are several projects I am currently working on or have worked on in the past. The most recent projects are listed at the top of their related section.

Robotics

6DOF Linear Trajectory, IK, & FK

A part 2 to my 6DOF Revyn Robot Arm project. Here I create a Linear Trajectory generator that uses inverse kinematics and forward kinematics to maintain orientation as the robot moves between 2 positions. Check it out here

6DOF Robot Arm Mechanical Design

The design of a 6DOF Robot Arm I am calling the Revyn Arm. I discuss the design requirements, my steps to CAD design and electronics design. I discuss why I made certain design decisions and present professional drawings and documentation. Check it out here

Computer Vision

Hand Eye Calibration

This is a 3D homography camera calibration for the Revyn Arm with a webcam attached to the end effector. In this project I explain how I use OpenCV with python to undistort fisheye images and calibrate the robot arm to understand its location in 3D space using several images of a checkerboard. Check it out here

Machine Learning

Stay Tuned For Future Project Info

Mechanical Design

General CAD Portfolio

Here is a compiled portfolio of my preliminary CAD work that helped me learn and develop my skills in robotics and mechanical design. Many of my models are made in either Solidworks of Fusion 360. I am equally comfortable working in either environment, and I am not afraid of spending time making high quality drawings for parts. I also dable in making electronic schematics and occasionally just designing asthetic pieces. The metal clamp opener was for a research project involving metal spinal implants. I actually hand manufactured the pipsqueak engine and it ran smoothly when I tested it. I also made and programmed the line following robot using a PIC24F. Finally, I made the haptic shoe insole, and developed a simple control algorithm for vibrating motors on the thigh shank when pressure is placed on the insole force sensors. Check it out here