Dynamic Control of Two Link Manipulator with redundant coordinates

A Two Link Manipulator is modeled with 4 DOF's and redundancy is resolved with 3 different methods.

A Two Link Manipulator is a standard problem. We have tried to model it with 4 parameters making two parameters redundant. We have resolved this redundancy and controlled it with three methods:
1) Projection to Feasible Motion Space
2) Projection to Feasible Force Space
3) Projection to Feasible Force Space with constraint stabilization

We have also investigated the effect of having initially violated constraints on the performance of these methods.

This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.