SDRE+Gravity Compensation for a 2 DoF Planar Robot Control

版本 1.0.0 (2.5 KB) 作者: Saeed Rafee Nekoo
This code shows a simple SDRE control with gravity compensation for point-to-point regulation of 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.
SDRE control parameters are set in lines 12-13.
Line 26 defines the mass of the load on the end-effector, mp.
The start and end points are defined in lines 15-18.
The physical parameters of the robot are set in lines 20-29.
Inverse kinematics is presented in liens 31-40, details can be found in chapter 3 of:
Schilling, R. J. (1996). Fundamentals of robotics: analysis and control. Simon & Schuster Trade.
Dynamics: lines 57-63. 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
SDRE controller is in lines 65-70. Details can be found at: https://doi.org/10.1049/cth2.12206 Nekoo, S. R., Acosta, J. Á., & Ollero, A. (2022). Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory & Applications, 16(1), 79-93.

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Nekoo, S. R., Acosta, J. Á., & Ollero, A. (2022). Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory & Applications, 16(1), 79-93.

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1.0.0