During my undergraduate exchange program at University of Toronto, I worked as a software developer on a new Modular, Autonomously Reconfigurable Serial manipulator platform for advanced manufacturing, termed as the MARS manipulator. The platform consists of an 18- Degree-of-Freedom (DOF) serial-link manipulator capable of locking any of its joints at any position in their continuous range, such that it can emulate fewer-DOF serial manipulators with different kinematic and dynamic parameters.
My main task was to implemented the communication between the physical manipulator and its control software, enabling MARS full movement control. I also fixed a few mechanical and electrical issues on the manipulator.
More information about the MARS Manipulator: Kereluk, J. A., & Emami, M. R. (2015). A new modular, autonomously reconfigurable manipulator platform. International Journal of Advanced Robotic Systems, 12(6), 71.