https://github.com/karanchawla/robot-dynamics-and-control

Code for the lab work for ME446 along with the final project
https://github.com/karanchawla/robot-dynamics-and-control

control-systems crs dynamics robot uiuc

Last synced: about 2 months ago
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Code for the lab work for ME446 along with the final project

• Host: GitHub
• URL: https://github.com/karanchawla/robot-dynamics-and-control
• Owner: karanchawla
• License: mit
• Created: 2017-04-19T15:34:10.000Z (about 9 years ago)
• Default Branch: master
• Last Pushed: 2017-05-03T15:53:14.000Z (about 9 years ago)
• Last Synced: 2025-01-26T16:15:00.514Z (over 1 year ago)
• Topics: control-systems, crs, dynamics, robot, uiuc
• Language: C
• Size: 6.09 MB
• Stars: 1
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Robot-Dynamics-and-Control

Code for the lab work for ME446 along with the final project.

# Simulink Model for the CRS Robot Arm

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%202/sim3.png)

# Trajectory Tracking in Simulation

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%202/sim2.png)

# Circle Trajectory Following

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%202/circle_ex.jpg)

# Infinity Trajectory Following

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%202/infinity_ex.jpg)

# Inverse Dynamics Control

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%203/withMass.JPG)

# Comparison between ID Control and PD Control with external mass

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%203/trawithm.png)

![](https://github.com/karanchawla/Robot-Dynamics-and-Control/blob/master/Lab%203/errwithm.png)