Impedance Control for a 2-Link Robot Arm - User-interactive
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 (2021). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. Retrieved .
Comments and Ratings (15)
MATLAB Release Compatibility
Platform Compatibility
Windows macOS LinuxCategories
Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!Discover Live Editor
Create scripts with code, output, and formatted text in a single executable document.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
Select web siteYou can also select a web site from the following list:
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)
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!