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Assignments for the Advanced Control Systems course @ UNIVR
The dissertation for this project can be found on Overleaf.
A symbolic model for the provided .urdf file can be found inside the kinematics and dynamics folders. A numerical approach is also available in order to compare the results with the ones from the Robotics System Toolbox from MATLAB.
All the discussed schemes can be found in the simulink folder. So far, the Parallel Force/Position Controller is still not working probably due to singularity issues.