Forward Dynamics of Planar 2-DOF Robot Manipulator

Forward Dynamics of Planar 2-DOF Robot Manipulator for continuous time function input tau's and discrete time function input tau's

Programs are written for forward dynamics simulation of Planar 2-DOF Robot Manipulator.

Associated model is shared in all textbooks for "Dynamics of Planar Manipulator".

Equations derived for simulation can be accessed from "Documentation" folder

Forward Dynamics Algorithm uses "Numerical Differentation of Ordinary Differential Equations"

"ode45" numerical integration technique is selected in order to solve non-stiff coupled differential equations.

Lagrangian Dynamics are applied to problem so as to obtain related dynamical equations.

Obtaining joint angles and joint angular velocities with respect to time is main goal to reach.

Masses and lenghts of the links are defined as constants and can be selected in program.

"ode45" uses continous time functions as variables. This case is implemented in the
"Numeric Integration with Continuous Function Input (Tau)" folder.

Discrete time tau input also implemented recursively in a small time interval which is located in the
"Numeric Integration with Discrete Input (Tau)" folder.

*** Any help and all corrections are accepted and appreciated.