See.
Read the part, understand its surfaces, and turn raw CAD into geometric intent.
Robotics software engineer Available worldwide
I teachmachinesto move.
From CAD geometry and motion planning to embedded control and real hardware. I build the entire path between intent and motion.
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00 The premise
A robot is only as intelligent as the whole chain behind its motion.
I work where disciplines collide: geometry becomes trajectories, trajectories become packets, and packets become physical movement.
The result is software that understands the machine above it—and the hardware below it.
01 One continuous system
The robotics software journey
Think.
Generate a path, solve the arm, and prove reachability and clearance before the first joint moves.
Move.
Carry the trajectory through ROS2, CAN and motor control until mathematics becomes motion.
Verify.
Measure what the real machine does, close the loop, and let evidence—not assumption decide what ships.
02 Selected work
Built beyond the screen.
Projects that cross simulation, software architecture and physical hardware—because a robot is not finished when the code compiles.
01 — M.Sc. thesisActive research
Autonomous modular arm.
Pull a joint, attach a different one, and the robot discovers its new body. Distributed modules communicate over CAN while ROS2 and MoveIt2 rebuild the kinematic description at runtime.
Hot-swapjoint topology
1 Mbit/sdistributed CAN bus
RuntimeURDF rebuild
ROS2planning stack
02 — Industrial systemReal CR10A · CR5A
CAD-to-robot weld path.
Give it a STEP file and it finds the weld seams, plans an oriented, sequenced toolpath and drives a Dobot CR10A over the controller’s own TCP/IP protocol. Seams are ordered by an exact Held–Karp search that weighs travel against wrist winding, every step is rule-based and explainable, and eight pre-flight checks can refuse a run before the first motion command. Lining the path up with the part from a depth scan (ICP) works in simulation; the wrist camera is now on the arm.
TÜBİTAK 1707: the system is now at the application stage as the core of an order-based industrial R&D project.
42 / 42waypoints flown on a real CR10A
8 gatesrefuse before any motion
6,900+automated tests
0 MLrule-based, explainable
Field log
- First contact.
Connected, enabled and ran the full path on the real arm. One stop, from the controller’s own singularity alarm.
- 27 of 42.
The wrist ran out of travel at waypoint 27. That failure became the wrist-budget check.
- 42 of 42 in 98.9 s.
The first full path flown under every check: 8 seams, with a pen standing in for the torch.
- Camera calibrated.
Lens calibration of the industrial camera: 0.135 px RMS over 44 views.
- Second arm, first words.
The planner moved to a CR5A and wrote on paper. The camera went onto the wrist and found the sheet untaught.
All site runs were motion-only: no torch mounted, no arc struck.
Pre-flight checks
- ReachEvery target inside the planned envelope
- SingularitySolved by the controller’s own IK, clear of singular poses
- Wrist budgetThe seam order fits the wrist’s travel
- Arm clearanceNo link meets the floor or the part
- Home-posture turnHome is not a full wrist turn away
- Pendant toolNo stray tool frame left on the pendant
- Home sweepThe tool stays clear of the floor while homing
- Self-collisionThe arm’s links never meet each other
Hardware Dobot CR10A · Dobot CR5A · wrist-mounted industrial camera
Stack Python · CadQuery / OpenCASCADE · Open3D · PyVista · PyQt5
Pen test · Oct 2026 · Dobot CR5A
Same planner, second robot, first words.
About 90% of the planner carried over to a smaller arm unchanged. We hand-guided it to the four corners of an A4 sheet and nothing else; every stroke of the lettering came from the planner, a pen standing in for the torch.
Meanwhile the camera went onto the wrist. In raw frames it already finds the sheet without its corners being taught. Next the two meet: the camera finds the sheet, the arm writes. On a shop floor that sentence reads: put the part down, and the robot finds it.
Why this is R&D
Half a millimetre, and who spends it.
Drift more than about 0.5 mm off the seam and the arc starts missing one edge of the joint. A cobot returns to the same spot within ±0.03 mm, but going where it is told is a different number, and heat and the hose’s pull spend the rest. Warm the arm up and load the torch:
Estimates from catalogue figures and published measurements on comparable arms: a 1 m aluminium arm grows about 0.023 mm per °C, and a similar cobot gives 57–96 N/mm at the tip. Measuring them on our own arm comes first.
The plan
Stop trusting the arm. Measure where the work happens.
Heat drifts over hours, flex changes from one second to the next, so no single sensor catches both. Five loops, five speeds:
- L0 · shift startTouch a referenceWarm-up and slow drift
- L1 · every part3D scanWhere the part really sits
- L2 · every seamTouch the startSlow errors zeroed per seam
- L3 · during the weldLaser trackingFlex that changes along the seam
- L4 · after the weldMeasure the beadTunes the next part
Learned the hard way On 21 Aug a tool frame left on the teach pendant moved every target by 440.9 mm, and any check reading that same setting saw nothing wrong. So each loop leans on a measurement that does not share the error it corrects.
03 — PersonalHardware
Brushless motor stabilisation.
A self-balancing platform built from the driver up: sensor fusion, six-step commutation and a deterministic PID loop.
04 — Client system2-person team
Grounded feasibility platform.
LLM orchestration with deterministic engineering tools, source-backed claims and mandatory human approval before release.
03 Full vertical slice
One mind across every layer.
I like the problems that live at the seams between disciplines—the ones nobody quite owns.
Geometry & vision
Turn shape and point clouds into something a robot can reason about.
Planning & robotics
Decide where the tool goes, whether the arm can reach, and how it gets there.
Embedded & control
Carry intent into deterministic loops, buses and motor phases.
Systems & AI
Build traceable software around the machine without asking AI to invent the physics.
04 Experience
From shop floor to software.
Robotics Software Engineer
Contract · Remote & on-site
CAD-to-robot weld path generation for a real collaborative arm: flown end to end on a Dobot CR10A, ported to a CR5A, and now at the TÜBİTAK 1707 application stage. Also a retrieval-grounded engineering feasibility platform.
Mechanical & Automation Engineer
BYRSAN Makina · Istanbul
PLC/HMI control, DIN-compliant structural engineering, and the company's digital infrastructure from site to quote-management system.
Engineering Intern — Robotics & .NET
Tezmaksan Makina · Istanbul
FANUC robot programming and cell validation on the production floor, alongside industrial IoT dashboards with .NET Core.
M.Sc. & B.Sc. Mechatronics Engineering
Yıldız Technical University · Pamukkale University
M.Sc. thesis on autonomous modular robotics. Academic work spans controls, HIL test design and rigorous V-model verification.
Software engineer · product builder Open to projects
I shipsoftwarepeople use.
Beyond robotics I build complete products: mobile apps, web platforms, AI tools and games. From the first conversation with the people who'll use them to the release build.
Scroll to explore
01 Live demo
Try it right here.
Kripros is open source and runs entirely in your browser: no sign-up, no server. Launch it inside the phone, or open it full screen.
Tip: tap “Örnek verilerle keşfet” to start with a few months of sample data. The interface is in Turkish.
Personal financeLive · MIT
Kripros.
A personal finance tracker for savings, spending and income, built with Expo and React Native. Budgets, recurring payments, goals, a calendar and charts drawn directly in SVG, and everything stays on the device.
0 serversfully on-device
Kuruşinteger money math
Raw SVGcharts, no chart library
CI → Pageslint, tests, web build
02 Selected apps
Products, tools & games.
Most of these live in private repositories, so what you see are real screens and clips captured from the running apps. Open any card for the full story.
Mobile gameStore-ready
A juicy retro-arcade block puzzle: five grid sizes, combo fever, power-ups and online leaderboards.
Mobile · AIMVP
Meeting notes that write themselves while people are still talking: live Turkish transcription and topic notes.
Industrial softwarePrototype
One control layer for mixed-brand industrial cells: digital twins, a node-graph scenario designer and a single safety gate for every motion command.
Developer toolPersonal tool
Drives Claude Code, Codex and Antigravity from one place: agents hand work to each other, every task gets its own git worktree, nothing merges without you.
Mobile · Personal CRMPre-launch
A private notebook for the people in your life: who to reach out to today, birthdays, notes and reminders, with end-to-end encrypted sync.
Retail operationsPrototype
Follows every made-to-order furniture item from the maker to the customer’s door, encrypted in the browser with no server at all.
Mobile · FinanceLive demo
Savings, spending and income on the device: budgets, recurring payments, goals and hand-drawn SVG charts.
Web app · AIComplete MVP
Upload a PDF or Word file, get a Turkish summary and chat with it; every answer cites its page.
Business toolClient project
Proposals for an industrial machinery maker: line items and terms in, a print-ready A4 quote out, with AI-drafted first versions.
Offline AIOpen source
An offline RAG assistant for CAN bus and firmware questions: it answers from your documents and cites them, or says it doesn’t know.
AccountingEarly prototype
Dues and collections for apartment complexes, designed from the first line for volunteer managers over 65.
Mobile · FamilyPrototype
A family New Year tournament, scored live: five players, nine real-life games over three days and an AI quiz finale.
Hackathon · MLOpen source
MathWorks Hackathon 2026: a phone in your pocket recognises what you’re doing and turns it into personal health metrics.
03 How I build
Decisions you can find in the source.
The same few rules keep showing up across these repositories: not as slogans on a slide, but as code.
Local-first, private by default.
If an app doesn’t need a server, it doesn’t get one. Kripros never leaves the phone, Mobilya Takip encrypts every record in the browser with per-user wrapped keys, and the CAN assistant answers with the network unplugged.
Seen inKriprosMobilya TakipCAN Bus Q&AConleaf
Money is an integer.
Amounts are stored in kuruş, never as floating point. Balances are computed from the ledger rather than stored, and a correction is a reversing entry, not a delete.
Seen inKriprosSite Yönetim
Designed with the people who use it.
Mobilya Takip started from a discovery conversation in the shop, which is why it tracks missing parts rather than stock counts. Site Yönetim is shaped around 65+ volunteer managers: large type, plain Turkish, no jargon.
Seen inMobilya TakipSite YönetimTeklif Master
AI proposes, people decide.
Models draft, summarise and suggest; they don’t get the keys. EOK’s AI has no handle on a single device, Konsey merges nothing without approval, the CAN assistant cites its source or refuses, and Conleaf saves nothing from a voice note until you confirm.
Seen inEOKKonseyCAN Bus Q&AConleaf
04 Smaller builds
Also built.
Single-purpose tools and learning projects. Two of them you can open right now.
Dual PDF Viewer
Two PDFs side by side with a draggable divider, for reading and comparing. One HTML file; documents never leave the browser.
E-commerce storefront
An ASP.NET Core MVC shop with categories, cart, coupons, checkout and orders.
This website
Hand-written HTML, CSS and JavaScript: a canvas motion field, scroll-driven kinematics, no framework.
05 Start a conversation