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Guillem Casado's Projects

electricmotorcontrol icon electricmotorcontrol

Design of an electric motor's controller. Simulations are done using Matlab and the controller is implemented in an Arduino Genuino uno. A speed sensor and an observer for the remaining state are used.

q-learning-rl-grid-world icon q-learning-rl-grid-world

Implementation of Reinforced Learning algorithm, Q-Learning, in order to make an agent learn how to collect a certain number of pieces and carry them to a goal state through a grid world with walls

robotmotioncontroller icon robotmotioncontroller

Motion controller for the robot PUMA560. Two strategies are usedPD control with gravity compensation in the joint space and Inverse dynamics control in the joint space.

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