File Exchange

image thumbnail

Kinematic/Dynamic Control of a Two Link Manipulator

version 1.1 (7.78 MB) by

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

1 Download

Updated

View License

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.

Comments and Ratings (3)

NASSI FAROUK

nacifarouk@yahoo.com

NASSI FAROUK

how to apply this method if the stiffness and mass matrix are important size

CQU

CQU (view profile)

Updates

1.1

Acknowledged prof. of course in description.

MATLAB Release
MATLAB 7.6 (R2008a)

Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.

» Watch video