prototype manipulator matlab simulation

Authors: Seonghyeon Jo(cpsc.seonghyeon@gmail.com)

Date: Des, 24, 2021

This repository is a MATLAB simulation of prototype manipulator using RK4(Runge-Kutta 4). The robot manipulator dynamic model (M, C, G) is obtained by Recursive Newton-Euler method.

Controller

• fig : controller result figure folder
• model : prototype robot model library folder
  • get_CoriolisMatrix.m : Coriolis matrix function
  • get_GravityVector.m : Gravity vector function
  • get_MassMatrix.m : Inertia matrix function
  • plant.m : robot manipulator plant function
  • rk.m : Runge-Kutta 함수
• 1. main_cartesian_joint_pd_controller.m : cartesian joint pd controller code
• 1. main_cartesian_admittance_controller.m : cartesian admittance controller code
• 1. main_driect_cartesian_pd_controller.m : cartesian pd controller code
• 1. main_joint_admittance_controller.m : joint admittance controller Code
• 1. main_joint_pd_controller.m : simple joint pd controller code

joint pd controller

cartesian pd controller

cartesian joint pd controller

joint admittance controller

cartesian admittance controller