Impedance Control for a 2-Link Robot Arm - User-interactive

Version 1.0.0.0 (8.95 KB) by Matthew Sheen
Click and drag to watch the arm respond. Includes well-commented derivation code.
5.0
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2.4K Downloads
Updated 25 Jun 2016
View License on GitHub

Video here: https://www.youtube.com/watch?v=cmW7pRLut8A
2-link planar arm with a compliant controller and gravity compensation. The user can click and drag to move the end-effector's target position. Hit a keyboard key to change to "disturbance-mode." This mode instead applies a disturbance force to the end-effector.

FILES:
MAIN.m -- Run this first!
Plotter.m -- Display the arm and integrate the equations in real time
deriverRelativeAngles.m -- Derives all dynamics and controls equations.
ALL other files -- Auto-written by deriverRelativeAngles.m

Cite As

Matthew Sheen (2025). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes
1.0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.