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Kinematic/Dynamic Control of a Two Link Manipulator

4.0 | 1 rating Rate this file 8 Downloads (last 30 days) File Size: 7.78 MB File ID: #23963 Version: 1.1
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Kinematic/Dynamic Control of a Two Link Manipulator


Hrishi Shah (view profile)


29 Apr 2009 (Updated )

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

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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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Comments and Ratings (3)
29 Sep 2016 NASSI FAROUK

Comment only
22 Apr 2016 NASSI FAROUK

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

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18 Apr 2013 CQU

CQU (view profile)

16 Feb 2010 1.1

Acknowledged prof. of course in description.

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