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

版本 1.0.0.0 (8.9 KB) 作者: Matthew Sheen
Click and drag to watch the arm respond. Includes well-commented derivation code.
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更新时间 2016/6/25
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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

引用格式

Matthew Sheen (2024). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. 检索来源 .

MATLAB 版本兼容性
创建方式 R2012b
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1.0.0.0

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