Thesis Demo

• Developed a customized Modified Transpose Jacobian controller for TDCRs, using null-space projection operator for redundancy resolution and DRL for optimal adaptive gain tuning.
• Designed an adaptive gain-tuning system for the MTJ controller using a Fuzzy Inference System.
• Developed a Fuzzy Logic Control with optimized membership functions and rule base via GA–PSO.
• Developed simultaneous position–orientation control via DRL to handle shape constraints.
• Calibrated and filtered robot sensors (load cells, cameras) and validated kinematics and Jacobian models.
• Performed sim-to-real implementation and experimental validation of controllers on the physical robot.