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

version (18.6 KB) by Matthew Sheen
Click and drag to watch the arm respond. Includes well-commented derivation code.


Updated 25 Jun 2016

GitHub view license on GitHub

Video here:

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.

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 (2020). Impedance Control for a 2-Link Robot Arm - User-interactive (, GitHub. Retrieved .

Comments and Ratings (15)

ning lu

Thank you so much!

Asjad Malik

Cw Sun


yue ma

jing luo


XD Zhou

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 I referenced this pdf when making.

Could you please submit the equations used for the impedance control?


good! Get it!

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