SDRE+Gravity Compensation for a 2 DoF Planar Robot Control
Version 1.0.0 (2,46 ko) par
Saeed Rafee Nekoo
This code shows a simple SDRE control with gravity compensation for point-to-point regulation of a two-degree-of-freedom manipulator.
Time definition and discretization is in lines 4-8.
The degree of freedom of the arm is in line 10.
SDRE control parameters are set in lines 12-13.
Line 26 defines the mass of the load on the end-effector, mp.
The start and end points are defined in lines 15-18.
The physical parameters of the robot are set in lines 20-29.
Inverse kinematics is presented in liens 31-40, details can be found in chapter 3 of:
Schilling, R. J. (1996). Fundamentals of robotics: analysis and control. Simon & Schuster Trade.
Dynamics: lines 57-63. M, C, g matrix and vectors can be obtained in:
SDRE controller is in lines 65-70. Details can be found at: https://doi.org/10.1049/cth2.12206 Nekoo, S. R., Acosta, J. Á., & Ollero, A. (2022). Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory & Applications, 16(1), 79-93.
Citation pour cette source
Nekoo, S. R., Acosta, J. Á., & Ollero, A. (2022). Gravity compensation and optimal control of actuated multibody system dynamics. IET Control Theory & Applications, 16(1), 79-93.
Compatibilité avec les versions de MATLAB
Créé avec
R2024a
Compatible avec toutes les versions
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Version | Publié le | Notes de version | |
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1.0.0 |