Two-Joint Robot Dynamics with impedance controller

版本 1.0.1 (28.2 KB) 作者: mutluhan özkan
In this work, two-joint robot is controlled with impedience controller method. Impedience controller diagram is constructed in model.
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In this work, two-joint robot is controlled with impedance controller method. Impedance controller diagram is constructed in model. External torques are modelled as pulse function. You can tune Kp and Kd values and observe how external force effects your robot positions.

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mutluhan özkan (2025). Two-Joint Robot Dynamics with impedance controller (https://ww2.mathworks.cn/matlabcentral/fileexchange/131798-two-joint-robot-dynamics-with-impedance-controller), MATLAB Central File Exchange. 检索时间: .

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版本 已发布 发行说明
1.0.1

Correction on title
1.0.0