Two-Joint Robot Dynamics with impedance controller

Version 1.0.1 (28.2 KB) by mutluhan özkan
In this work, two-joint robot is controlled with impedience controller method. Impedience controller diagram is constructed in model.
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Updated 2 Jul 2023

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In this work, two-joint robot is controlled with impedance controller method. Impedance controller diagram is constructed in model. External torques are modelled as pulse function. You can tune Kp and Kd values and observe how external force effects your robot positions.

Cite As

mutluhan özkan (2024). Two-Joint Robot Dynamics with impedance controller (https://www.mathworks.com/matlabcentral/fileexchange/131798-two-joint-robot-dynamics-with-impedance-controller), MATLAB Central File Exchange. Retrieved .

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

Correction on title
1.0.0