Nucleo Solenoid Shield

February 23, 2019

In order to help standardize solenoid-based instruments in WPI’s Music, Perception, and Robotics Lab I designed a solenoid shield for STM32 Nucleo development boards.

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Matlab Symbolic Robot Kinematics

February 11, 2019

While taking RBE 3001 it was often necessary to convert Denavit–Hartenberg parameters into transformation matrices or a Jacobian. To make this process easier I created a symbolic Matlab class that could complete all of the calculations with either symbolic variables or real values.

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