Dynamic-Modelling-of-Manipulator-Arm
Inverse dynamics control using dynamic modelling for multi link serial manipulator arm.
The code present in the src folder organised in the following manner:
- ikin.m contains the code necessary to converge the inverse kinematics to the desired point.
- fwd_kin.m contains the runner code to find the forward kinematics of the robot.
- make_kinematics.m contains the code to generate forward kinematics for the robot
- make_dynamics_model.m contains the code for generating G_List an M_List matrices for robot dynamics.
- fwd_dyn.m contains the code for forward dynamics and gravity compensation. It generates joint torques for holding the robot stable.
- inv_dynamics.m contains the code for inverse dynamics in newton euler representation. It generates the Torque plots for getting traversing the trajectory.
Results
