PD+gravity Control 2DoF Planar Robotic Manipulator

版本 1.0.1 (2.4 KB) 作者: Saeed Rafee Nekoo
This code presents a simple PD+gravity control design for a two-degree-of-freedom manipulator.
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更新时间 2024/5/23

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Time definition and discretization is in lines 4-8.
The degree of freedom of the arm is in line 10.
The start and end points are defined in lines 12-15.
The physical parameters of the robot are set in lines 17-26.
Inverse kinematics is presented in liens 27-37, details can be found in chapter 3 of:
Schilling, R. J. (1996). Fundamentals of robotics: analysis and control. Simon & Schuster Trade.
Dynamics: lines 54-60. M, C, g matrix and vectors can be obtained in:
https://es.mathworks.com/matlabcentral/fileexchange/75554-symbolic-derivation-of-manipulator-dyn-denavit-hartenberg?s_tid=prof_contriblnk
PD controller is in lines 62-64. Details can be found in chapter 7 of:
Schilling, R. J. (1996). Fundamentals of robotics: analysis and control. Simon & Schuster Trade.
Simple PD can be implemented by replacing line 64 with:
u(:,i)=-Kp*(q-x_des(1:2))-Kd*(dq-x_des(3:4));

引用格式

Saeed Rafee Nekoo (2024). PD+gravity Control 2DoF Planar Robotic Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/166431-pd-gravity-control-2dof-planar-robotic-manipulator), MATLAB Central File Exchange. 检索时间: .

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版本 已发布 发行说明
1.0.1

Additional note.
1.0.0