Two-Joint Robot Dynamics and PID Controller

Version 1.0.1 (24,6 KB) von mutluhan özkan
In this work, Two-joint robot dynamics is derived from Lagrangian dynamics. Then PID controller is deployed to reach reference joint angle.
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In this work, Two-joint robot dynamics is derived from Lagrangian dynamics. Then PID controller is deployed to reach reference joint angle. Each joint torque try to control its own joint angle. Also robot dynamics can be adjusted for different physical properties m1,m1,l1,l2

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mutluhan özkan (2025). Two-Joint Robot Dynamics and PID Controller (https://de.mathworks.com/matlabcentral/fileexchange/131673-two-joint-robot-dynamics-and-pid-controller), MATLAB Central File Exchange. Abgerufen.

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Erstellt mit R2018a
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Version Veröffentlicht Versionshinweise
1.0.1

Correction on robotic dynamics equations
1.0.0