Personal Project
Robot Test Bench — Motor Plant & Control Simulation
A physically-grounded testing framework for robotic motion systems — an RK4 brushed-DC motor plant, Coulomb/Stribeck/viscous friction, and a three-loop cascade servo controller with back-calculation anti-windup. Every figure is generated from the simulation API, not hand-drawn.
Built a simulation + test bench where the physics is real: a brushed-DC motor plant integrated with RK4 shows the fast electrical (L/R) current transient riding under the slower mechanical pole — the signature of the coupled second-order electromechanical system.
Modeled drivetrain friction as Coulomb + Stribeck + viscous (static break-away, the Stribeck dip, the linear viscous rise), and built a three-loop cascade controller (position/velocity/current) with back-calculation anti-windup — demonstrated directly against an integrator-windup case so the difference is visible, not asserted.
Added sensor emulation (quadrature encoders, force/torque), high-speed data logging, system identification, and resonance-suppression demos. Every plot in the docs is produced by scripts/make_figures.py from the same code paths the test suite covers — no hand-drawn data.