snehaldikhale/2link-robot

Matlab animations: 2-dof arm control using different controllers

2link-robot

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

Animations generated can be found on YouTube:

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

Instructions to run animations:

Clone repository:

git clone https://github.com/jakub-kaminski/2link-robot

Run MATLAB code (Passivity based controller and the reference trajectory):

matlab animation_robot_ref.m

Or alternatively, run (inverse dynamics controller by default):

matlab animation_robot.m

Or the same code in the MATLAB console:

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)';

Project parts in progress:

Fixing matlab quiver scalling range

Generating user friendly option menu for choosing desired controller

Simulating desired trajectory using 2-nd, semi-transparent robot