Industrial Robotics & Motion Optimization ABB GoFa CRB 15000 • Collaborative Robotics

Trajectory Planning for an ABB CRB 15000 Robot Using Bang-Coast-Bang Time Law

Optimized cycle execution time by ~25% for the ABB GoFa collaborative arm. Formulated mathematical kinematic solvers, inverse dynamics, and bang-coast-bang time-optimal velocity profiles. Validated trajectory constraints through MATLAB and RoboDK 3D.

~25% Time-Optimal
Cycle Efficiency Gain Bang-Coast-Bang trapezoidal motion law minimizes joint transit duration
RoboDK 3D Digital Twin
Trajectory Verification Full kinematic multi-axis joint trajectory and collision boundary validation
6-DOF Analytical Solvers
Forward & Inverse Kinematics Closed-form inverse position kinematic formulation for ABB GoFa CRB 15000
0 Discontinuity Boundary Solved
Acceleration Blending Controlled jerk profiles prevent mechanical stress and actuator vibration
View Trajectory Solver Repository View Simulation & Plots
Interactive Kinematics Laboratory

ABB GoFa CRB 15000: Bang-Coast-Bang Trajectory Engine

Simulate time-optimal trapezoidal velocity blending and joint displacement profiles. Observe how jerk-limiting eliminates acceleration discontinuities and shortens total robot cycle duration.

Presets:
90°
20°90°180°
1.8 rad/s
0.5 rad/s1.8 rad/s3.0 rad/s
4.0 rad/s²
1.0 rad/s²4.0 rad/s²8.0 rad/s²
Total Cycle Time ($T$) 1.32 s
Acceleration Phase ($t_a$) 0.45 s
Coast Phase ($t_c$) 0.42 s
Cycle Efficiency Gain +27.4%
Displacement $s(t)$
Velocity $v(t)$
Acceleration $a(t)$
t = 0.00s
Instant Joint Pos ($\theta$): 0.0° / 90.0°
Instant Joint Vel ($\dot{\theta}$): 0.00 rad/s
ABB CRB 15000 Status: Ready (Standby)

Core Engineering Competencies

Robotics & Kinematics

  • Trajectory Planning & Optimization
  • Bang-Coast-Bang Time Law
  • Forward & Inverse Kinematics
  • MATLAB & RoboDK 3D Simulation
  • Collaborative Robotics (ABB GoFa)

Embedded Systems & Firmware

  • ESP32 & Arduino C++ Frameworks
  • FreeRTOS Task Scheduling
  • LVGL v9 Touch GUI Interfaces
  • Nextion Industrial HMIs
  • Sensor Telemetry & Actuator Drivers

CAD & PCB Hardware Design

  • Siemens NX & SolidWorks 3D CAD
  • Autodesk Inventor Modeling
  • KiCAD & AutoDesk Eagle PCBs
  • Fritzing Circuit Prototyping
  • Precision Soldering & Assembly

IoT & Data Engineering

  • Wi-Fi / MQTT / HTTP Telemetry
  • SQL Databases & Web APIs
  • Power BI Real-Time Dashboards
  • JSON Data Interchange Protocols
  • Python & Data Science Pipelines
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Kingston University London, UK MSc Distinction • 2024 – 2025

MSc Mechatronic Systems

Advanced Master's engineering curriculum centering on mathematical formulation of robotic dynamics, industrial collaborative manipulation, real-time control implementation, and quality management systems.

Applied Core Concepts
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  • Applied Mechatronic Design
  • Inverse Kinematics Solvers
  • Embedded Implementation
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  • Hydraulics & PLC Automation
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