Matlab animations: 2-dof arm control for a predefined trajectory using different controllers
Animation by Jakub Kaminski
Controllers code by Mostafa Atalla, Calvin He and Jakub Kaminski
Passivity-based Controller and reference trajectory: https://youtu.be/ciuWzi5VB5Q
Inverse-Dynamics Controller: https://youtu.be/AQJjr3sGdbM
Lapunov-based Controller: https://youtu.be/83hr36adFTA
Passivity-based Controller: https://youtu.be/UTVANNz7S3U
git clone https://github.com/jakub-kaminski/2link-robot
matlab animation_robot_ref.m
matlab animation_robot.m
animation_robot
To run simulation for a different controller (in this case passivity-based control), please uncomment lines of animation_robot.m containing:
%th1 = Z(:,1)';
%th2 = Z(:,2)';
%th1_dot = Z(:,3)';
%th2_dot = Z(:,4)';
Fixing matlab quiver scalling range
Generating user friendly option menu for choosing desired controller
Simulating desired trajectory using 2-nd, semi-transparent robot