The goal of this project was to implement a closed loop controller in order to control two motors and their positions. The motor positions were measured with encoders, whose values were analyzed and corrected for by Arduino code. Position data would be fed to the Arduino, and the controller would attempt to draw out this data on a piece of paper using the linkage system.

A rigid but lightweight structure to hold the pen and motors was required. Laser cut acrylic was used for low weight and ease of manufacturing. The assembly was mounted on a wood block which was then clamped to the work surface.

The challenge was integrating the software with the hardware. Inverse kinematics were used to calculate the required motor angles given a position, and a proportional-derivative (PD) controller was used to correct the real motor angle from the set angle. Tuning the gains for the controller proved unsuccesful as the final drawings were not accurate.