Wirebot

After I presented LLAMA-Q at MakerFaire, I was told I should build a sky-cam like robot to do a proof of concept.

Cable-driven robots are most popularly used for skycams in stadiums to span the length of the field. They move cameras fast, reliably, and smoothly. Most importantly, they're easily scaleable. The anchors of a cable actuated robot can be spread out to expand the workspace, and the only thing that would need to be changed is the total length of wire.

There isn't a lot of available work done with these cable driven robots.

For Goathacks, a hackathon at WPI, I developed a control library with reliable FK, IK, velocity control, and position control.