Yohan Park
M.S. Student, KAIST
john.a.park [AT] kaist.ac.kr
FSM Teleoperation for Manipulators
4-DoF Trajectory Control in Real Time
Course: EE405 Electronics Design Lab (Sep 2024 - Dec 2024)
Full project title: Finite State Machine-based manipulator system for teleoperation and trajectory control
TL;DR:
- I Developed a finite state machine (FSM)–based control system for teleoperation and waypoint trajectory control of a 4-DoF manipulator.
- I Built robust real-time communication between the manipulator controller and host machine.
Abstract. This project develops a finite state machine (FSM)based manipulator system supporting teleoperation and interwaypoint trajectory control. The system integrates solenoid-based actuation, linear interpolation for trajectory generation, and velocity mode commands via inverse kinematics (IK). A deterministic finite automaton (DFA) manages state transitions using keyboard inputs and joint state feedback. Real-time synchronization between an Ubuntu host and BeagleBone Black target ensures robust operation. The system demonstrates scalable teleoperation and waypoint navigation, showcasing FSM’s practical application in distributed robotic control.
Read the full report.
Contents to be updated.