Two-Joint Robot Dynamics and PID Controller

Version 1.0.1 (24.6 KB) by mutluhan özkan
In this work, Two-joint robot dynamics is derived from Lagrangian dynamics. Then PID controller is deployed to reach reference joint angle.
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In this work, Two-joint robot dynamics is derived from Lagrangian dynamics. Then PID controller is deployed to reach reference joint angle. Each joint torque try to control its own joint angle. Also robot dynamics can be adjusted for different physical properties m1,m1,l1,l2

Cite As

mutluhan özkan (2026). Two-Joint Robot Dynamics and PID Controller (https://www.mathworks.com/matlabcentral/fileexchange/131673-two-joint-robot-dynamics-and-pid-controller), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2018a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes
1.0.1

Correction on robotic dynamics equations
1.0.0