Updated 25 Jun 2016
Video here: https://www.youtube.com/watch?v=cmW7pRLut8A
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
Matthew Sheen (2020). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. Retrieved .
Thank you so much!
For the specifics, look in deriverRelativeAngles.m. You'll find the symbolic derivation of the impedance control. As a broader reference, see section 19.4.2 of http://summerschool.stiff-project.org/fileadmin/pdf/1804_C19.pdf. I referenced this pdf when making.
Could you please submit the equations used for the impedance control?
good! Get it!