Two-Joint Robot Dynamics and PID Controller
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 .
General Information
- Version 1.0.1 (24.6 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
