📄️ ZeqKinematics
Forward/inverse kinematics with HulyaPulse timing. DH parameter chains up to 12-DOF, singularity avoidance, workspace analysis with R(t) joint trajectory smoothing.
📄️ ZeqSLAM
Simultaneous Localization and Mapping on Zeqond frames. LiDAR/camera fusion, loop closure detection, graph-based optimization with R(t)-weighted scan matching.
📄️ ZeqManipulation
Robotic grasp planning and manipulation. Force/torque control with HulyaPulse compliance, grasp quality metric, collision-free motion planning via RRT*.
📄️ ZeqSwarm
Multi-robot swarm coordination via HulyaPulse synchronization. Formation control, task allocation, consensus algorithms — all agents tick on the same Zeqond clock.
📄️ ZeqPID
PID controller tuning with HulyaPulse sampling. Auto-tune via Ziegler-Nichols on Zeqond timestep, bode plot analysis, stability margin computation.