/Manipulator_PD_control

Build manipulator dynamics. Track desired trajectory with PD controller

Primary LanguageMATLAB

Readme

1. 'run.m' can present all the answers and plots required in this homework.
The anwer to Problem 1 and 2 is in the command window. But you can still see the answers in
the Written.pdf.

2. To change the initial states of system. You can change the value of 'jointAngle_ini', 'jointVel_ini' and 'jointAcc_ini'.