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Kinematic/Dynamic Control of a Two Link Manipulator

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Kinematic/Dynamic Control of a Two Link Manipulator

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29 Apr 2009 (Updated )

Kinematic and Dynamic models of a Two Link Manipulator undergo non-linear feedback linearization.

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Description

The standard problem of a Two Link Manipulator is developed both kinematically and dynamically. It is then controlled to trace a rotated ellipse. The non-linear terms (like gravity/inertia etc.) are exclusively canceled out in varying degrees and the performance studied.
This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

MATLAB release MATLAB 7.6 (R2008a)
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18 Apr 2013 CQU  
Updates
16 Feb 2010

Acknowledged prof. of course in description.

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