Dynamics Simulator for Kinematic Chains by Bassam Jalgha

This is a library that performs a dynamics simulation of a robotic arm. (kinematic chains, lagrangian, control design)

Tr=FKinematics(DH,varargin)

Tr=RobotPlot(DH,varargin)

Tr=SYM_sub(T,varargin)

lagrangian mechanics, 2 points conected with rod by Maxim Vedenyov

with formulas in docx file (lagrangian, rod, mechanics)

zz_2_obj_lagrangian_test.m