Code covered by the BSD License
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DYN_CL_B1(t,X)
DYNAMIC ANALYSIS : CLOSED LOOP B1
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DYN_CL_B2(t,X)
DYNAMIC ANALYSIS : CLOSED LOOP B2
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DYN_CL_B3(t,X)
DYNAMIC ANALYSIS : DYNAMIC ANALYSIS CLOSED LOOP B3
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DYN_OL(t,X)
DYNAMIC ANALYSIS : Open Loop
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ERROR_PLOT_1(tspan,X,h,txt1)
ERROR CALCULATION FOR KINEMATIC ANALYSIS
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ERROR_PLOT_2(tspan,X,h,txt1)
ERROR CALCULATION FOR DYNAMIC ANALYSIS
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TAU_SIM=FIND_TAU_SIM(tspan,X)
CALCULATES TORQUE BASED ON JOINT SPACE INFORMATION FROM KINEMATIC
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TH=invbot(X)
RETURN JOINT SPACE ANGLES FOR A GIVEN END EFFECTOR POSITION
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TH=invbot2(X,th)
RETURN JOINT SPACE ANGLES FOR A GIVEN END EFFECTOR POSITION AND AN
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[THETA_DES]=TH_DES_INFO(t,X)
EVALUATES DESIRED THETA, THETA_DOT, THETA_DOTDOT AT ANY GIVEN TIME
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[dX]=KIN_CLJS(t,X)
KINEMATIC ANALYSIS: CLOSED LOOP JOINT SPACE CONTROL
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[dX]=KIN_CLTS(t,X)
KINEMATIC ANALYSIS CLOSED LOOP TASK SPACE CONTROL
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[dX]=KIN_OL(t,X)
KINEMATIC ANALYSIS: OPEN LOOP
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plotbot_js(t,X,index,txt1)
FUNCTION FOR PLOTTING THE SIMULATED OUTPUT FOR A GIVEN TIME VECTOR AND
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dyn_main.m
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DYN-CLOSED LOOP-B1 (Kp=10000,...
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DYN-CLOSED LOOP-B2 (Kp=1000,K...
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DYN-CLOSED LOOP-B3 (Kp=100,Kd...
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DYN-OPEN LOOP.avi
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KIN-CLOSED LOOP-JS (Kp=100,10...
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KIN-CLOSED LOOP-TS (Kx=100,10...
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OPEN LOOP.avi
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View all files
Kinematic/Dynamic Control of a Two Link Manipulator
by Hrishi Shah
29 Apr 2009
(Updated 16 Feb 2010)
Kinematic and Dynamic models of a Two Link Manipulator undergo non-linear feedback linearization.
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| File Information |
| 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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| Updates |
| 16 Feb 2010 |
Acknowledged prof. of course in description. |
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