Code covered by the BSD License

Tr=FKinematics(DH,varargin) Bassam Jalgha Nov 2010
Tr=RobotPlot(DH,varargin) Bassam Jalgha Nov 2010
Tr=SYM_sub(T,varargin) Bassam Jalgha Nov 2010
Tws=BuildTwb(pos,angle) Bassam Jalgha Nov 2010
X=SimulateRobot(Minv,B,C,G,b,... Bassam Jalgha August 2011
[M B C G]=ComputeDynamics(DH,... Bassam Jalgha August 2011
dout=fulldiff(varargin) FULLDIFF Total derivative wrt time, not just partial derivatives from diff
inverted=invT(T) Bassam Jalgha Nov 2010
Example_2DOF_Pendulum.m
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Dynamics Simulator for Kinematic Chains

22 Aug 2011

This is a library that performs a dynamics simulation of a robotic arm.

File Information
Description	The library is a basic dynamic simulator for kinematic chains. You just need to provide the symbolic Denavit-Hartenber parameter matrix. 'ComputeDynamics' function uses the Euler-Lagrange method to find the joint-space dynamics equation matrices. SimulateRobot function uses Euler method to simulate the kinematic chain. The rest of the functions are from my earlier submission "Simple Forward Kinematics library for robotic chains" There is a clear and easy example of a 2DOF pendulum. Feel free to modify add and improve on the code. P.S. The code still requires lots of development and testing. Testing needs to be done on different DH parameters. I didn't have the time to test for prismatic joints. And the performance is really slow. Any help is appreciated.
Acknowledgements	Fulldiff.M and Simple Forward Kinematics Library For Robotic Chains inspired this file.
MATLAB release	MATLAB 7.8 (R2009a)

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Everyone's Tags	control design, dynamics, euler, kinematic chains(2), lagrange, lagrangian(2), modeling, physics, robotic arm, robotics, simulation
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02 Dec 2012	Rohit Mishra