Control of a Manipulator with Two Degrees of Freedom

This file contents the modeling and simulation of two degrees for freedom manipulator. The direct and inverse kinematic is included, also t

This file contents the modeling and simulation of two degrees for freedom manipulator. The direct and inverse kinematic is included, also the dynamic model based in the Lagrange method. Additionally, is included a simple’s PD controller and a block of trajectory generation. dynamic model. This file could be customized for different uses.

Based in: Robot Manipulator Control Theory and Practice of Lewis F.L., Abdallah C.T., Dawson D.M.