Task Space control of RPRP manipulator: f=my_zfun(x) - File Exchange

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Task Space control of RPRP manipulator

robotics_project(varargin) Sumit Tripathi
RPRP_sgraph(t,y,par) Get initial values of joint variables
[]=forward_kin() Sumit Tripathi
[flag_set]=set_dimensions() Sumit Tripathi
f=my_zfun(x)
inverse_kin() Sumit Tripathi
plot_RPRP() Sumit Tripathi
rprp_trace(t,x,flag) Sumit Tripathi
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from Task Space control of RPRP manipulator by Sumit Tripathi
Forward and inverse kinematics of RPRP manipulator with task space control to trace trajectories.

f=my_zfun(x)

function f=my_zfun(x)

global theta1_g d1_g theta2_g d2_g;
global x_ee_g y_ee_g;

theta1_g = x(1);
theta2_g = x(2);

f1 = (d1_g*cos(theta1_g) + d2_g*cos(theta1_g+ theta2_g) - x_ee_g)^2;
f2 = (d1_g*sin(theta1_g) + d2_g*sin(theta1_g+ theta2_g) - y_ee_g)^2;
f = f1+f2;
return;

Highlights from Task Space control of RPRP manipulator

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Task Space control of RPRP manipulator