README :
In this work, advanced model-based control scheme is implemented for youBot manipulator in order to achieve precise trajectory tracking control, and presents findings on dynamic model parameters estimation, friction modeling and compensation.
Directories:
MT-Proposal : Contains thesis proposal code : Master thesis source demo : Demos include gravity compensation and trajectory tracking experiments : Plotting details and experiment data tex : Tex directories of master thesis report and presentation
Dependencies:
This package is dependent on the following libraries
- Orocos KDL library - https://github.com/orocos/orocos_kinematics_dynamics/tree/master/orocos_kdl
- Simbody - https://github.com/simbody/simbody
- youBot driver(cmake version) - https://github.com/youbot/youbot_driver