As part of the undergraduate thesis, we designed, built, and optimized a two-degree-of-freedom (2DOF) manipulator intended for use with digital simulators. In its construction we relied exclusively on commercially available off-the-shelf components, and the device was conceived to be both cost-optimized and competitive with existing products on the market. The software portion of the project, which includes data acquisition and processing from the digital simulator as well as communication between the computer and the manipulator, was independently developed and implemented by us in Python and C++, and partially in Lua. This comprehensive approach provided in-depth system knowledge and significantly improved both speed and motion accuracy of the manipulator.
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