Designed and implemented end-to-end distributed robotics solutions for Yaskawa and UR. robots, including robot behaviors, error recovery, path planning, and path following.

Designed numerical gradient-based kinematic solvers with sub-millisecond execution time.

Designed trajectory parameterization algorithms and motion planning algorithms, avoiding joint singularities and handling dynamic limits.

Designed solutions for monitoring and controlling robotic devices using MODBUS, Ethernet/IP, TCP and UDP communication protocols.

Robotics team point-of-contact for roadmaps, product brainstorms, and new features.

Led the hardening efforts with tooling, telemetry, data capture, and state recording.

Designed, developed and cythonized a position-velocity-acceleration-jerk limited trajectory generation and parameterization algorithm with joint synchronization.

Implemented multi-threaded and multi-process motion control systems for Fanuc/Yaskawa/UR.

Implemented a state-based, multi-threaded high-level motion task management with concurrent future callbacks and escalating exception handling.

Adapted swept collision checks to handle false positives with sub-millisecond execution times.

Improved our waypoint detector algorithm with joint convergence and local minima avoidance.

Adapted different dynamic collision scene plans for millisecond trajectory computation.

Developed motion planning using Probabilistic Roadmap and Rapidly Exploring Random Tree. algorithms with concurrent trajectory execution.

Devised dynamic robotic models with collision checking, FK queries and IK queries.

Designed and implemented the FANUC robotic arm software solution as a substitution for the. UR5, saving $12K/arm with a 40% increase in joint speeds, fault handling and path following.

Developed a Dynamic Time Warping algorithm with moving window for trajectory following.