Robot Controls Programmer

Primary Function

Develop real-time mechanism control systems

Roles and Responsibilities

• Develop real-time mechanism control infrastructure for PR2 multi-arm robot
• Develop and validate force-domain operational-space controllers for both general and task-specific arm controllers
• Manage relationship with academic controls researchers to integrate best available robot control algorithms into open-source code base
• Write realtime C/C++ code to implement controllers, safety code, and mechanism diagnostics
• Provide controls support to mechanism test team

Skill / Job Requirements

• Strong C/C++ programming ability
• Ability to work fluently with control systems (e.g. strong intuition about system behavior, ability to build systems that allow confident and safe modification of control code)
• Experience implementing and working with forward and inverse kinematics, computation of jacobians, computation joint-space and cartesian-space inertia matrix, compensation for coriolis and centrifugal forces on robot arms, etc.
• Experience with both joint and cartesian-space control in real-world environments
• Experience implementing force-control and cartesian impedance-controlled behaviors on real robot arms
• Strong formal control theory background
• Experience bringing up new mechanisms from scratch
• Commitment to producing high-performance and reliable open-source robot control systems
• Strong written and oral communication skills
• Ability to explain abilities and limitations of controllers to technical audience without significant controls background

Apply

If this sounds like you, email your resume (pdf preferred), along with a link to any relevant projects that you'd like to share with us to: jobs@willowgarage.com

Willow Garage, Inc. is an Equal Opportunity Employer committed to the principles of workplace diversity