MATLABImpedanceControlExample
user-interactive impedance control example of a 2 link, 2D arm.
Install / Use
/learn @mws262/MATLABImpedanceControlExampleREADME
MATLAB Impedance Control for a 2-Link Robot Arm - User-interactive
2-link planar arm with a compliant controller and gravity compensation. The user can click and drag to move the end-effector's target position. Hit a keyboard key to change to "disturbance-mode." This mode instead applies a disturbance force to the end-effector.
Files
MAIN.m -- Run this first! Plotter.m -- Display the arm and integrate the equations in real time deriverRelativeAngles.m -- Derives all dynamics and controls equations. ALL other files -- Auto-written by deriverRelativeAngles.m
Video
https://www.youtube.com/watch?v=cmW7pRLut8A
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