Representative Projects
Surgical Robotics Platform
Architecture and implementation of a tendon-driven continuum catheter system: real-time torque control, EtherCAT-based drivers, kinematic modeling, and GPU-accelerated visualization.
EtherCAT Motor Control Stack
DS402 implementation on custom motor hardware, including SDO/PDO mapping, FOC tuning, anti-windup strategies, and high-rate telemetry.
Real-Time Linux Control Platform
1 kHz+ multi-axis control on RT-patched Linux with CPU pinning, priority schemes, and performance instrumentation to keep jitter within tight bounds.
FPGA Encoder & Safety Module
FPGA subsystem for multi-encoder setups (primary, secondary, and safety sensors), supporting runaway detection and cross-checking with motion commands.
Detailed project write-ups available on request under appropriate NDAs.