Robot Data and Hardware

Design ROS 2 real-time robot control with bounded deadlines, scheduling, memory, ros2_control interfaces, tracing and worst-case jitter tests.

Tune robot joint PID and cascaded current, velocity and position loops using response, saturation, noise, resonance, payload and thermal evidence.

Compare EtherCAT and CAN FD robot networks by control cycle, clock synchronization, bus load, topology, diagnostics, wiring and fault behavior.

Compare robot LiDAR, visual and visual-inertial SLAM by sensors, loop closure, calibration, map output, metrics and failure conditions.

Build robot sensor fusion with timestamp and frame alignment, covariance, EKF or UKF estimation, outlier rejection and fault validation.

Understand robot whole-body control through contacts, task priorities, momentum, constraints, optimization, learned commands and validation.

Compare robot motion planning and trajectory optimization by search, initialization, collision, costs, dynamics, timing and feedback execution.

Compare inverse kinematics and inverse dynamics by inputs, outputs, constraints, singularities, torque limits, contact and feedback control.

Separate robot reducer backlash, lost motion, hysteresis and torsional stiffness and compare them with a controlled torque-angle test.

Understand robot motor driver architecture including DC bus, inverter, gate drivers, current sensing, control MCU, protection and regeneration.