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
Citar como
Matthew Sheen (2024). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. Recuperado .
Compatibilidad con la versión de MATLAB
Compatibilidad con las plataformas
Windows macOS LinuxCategorías
- Image Processing and Computer Vision > Image Processing Toolbox > Image Filtering and Enhancement > Morphological Operations >
- Engineering > Electrical and Computer Engineering > Robotics >
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