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Highlights from
Kinematic/Dynamic Control of a Two Link Manipulator

• DYN_CL_B1(t,X) DYNAMIC ANALYSIS : CLOSED LOOP B1
• DYN_CL_B2(t,X) DYNAMIC ANALYSIS : CLOSED LOOP B2
• DYN_CL_B3(t,X) DYNAMIC ANALYSIS : DYNAMIC ANALYSIS CLOSED LOOP B3
• DYN_OL(t,X) DYNAMIC ANALYSIS : Open Loop
• ERROR_PLOT_1(tspan,X,h,txt1) ERROR CALCULATION FOR KINEMATIC ANALYSIS
• ERROR_PLOT_2(tspan,X,h,txt1) ERROR CALCULATION FOR DYNAMIC ANALYSIS
• TAU_SIM=FIND_TAU_SIM(tspan,X) CALCULATES TORQUE BASED ON JOINT SPACE INFORMATION FROM KINEMATIC
• TH=invbot(X) RETURN JOINT SPACE ANGLES FOR A GIVEN END EFFECTOR POSITION
• TH=invbot2(X,th) RETURN JOINT SPACE ANGLES FOR A GIVEN END EFFECTOR POSITION AND AN
• [THETA_DES]=TH_DES_INFO(t,X) EVALUATES DESIRED THETA, THETA_DOT, THETA_DOTDOT AT ANY GIVEN TIME
• [dX]=KIN_CLJS(t,X) KINEMATIC ANALYSIS: CLOSED LOOP JOINT SPACE CONTROL
• [dX]=KIN_CLTS(t,X) KINEMATIC ANALYSIS CLOSED LOOP TASK SPACE CONTROL
• [dX]=KIN_OL(t,X) KINEMATIC ANALYSIS: OPEN LOOP
• plotbot_js(t,X,index,txt1) FUNCTION FOR PLOTTING THE SIMULATED OUTPUT FOR A GIVEN TIME VECTOR AND
• dyn_main.m
• DYN-CLOSED LOOP-B1 (Kp=10000,...
• DYN-CLOSED LOOP-B2 (Kp=1000,K...
• DYN-CLOSED LOOP-B3 (Kp=100,Kd...
• DYN-OPEN LOOP.avi
• KIN-CLOSED LOOP-JS (Kp=100,10...
• KIN-CLOSED LOOP-TS (Kx=100,10...
• OPEN LOOP.avi
• View all files