This project forked from fantasty9413/trajectory-tracking-
by using velocity Jacoby matrix method and a sliding mode controller, making a trajectory tracking of the robotic arm named Innfos-Gluon-6L3,
by using velocity Jacoby matrix method and a sliding mode controller, making a trajectory tracking of the robotic arm named Innfos-Gluon-6L3,
1.Jacob_cross_SDH.m:求解速度雅各比矩阵，建模采用SDH方法
2.Trajectory.m:利用七段S曲线进行轨迹规划，设计等速趋近率的滑模控制器，以速度雅各比矩阵作为被控对象，实现轨迹跟踪
3.fknie_4dof.m:正运动学求解函数
4.ikine_nm.m:逆运动学求解函数，基于牛顿迭代的方法
NewtonMethod_FDiff.m:逆运动学求解函数的子函数，用于建立牛顿迭代方程
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