Two Joint Robot Arm

Simple two joint robot arm model by combining Electrical & Mechanical equations

This is a small coursework I completed for a robotics module at uni.
It considers the electrical equations (Voltage Law) of the DC motors and the mechanical equations (Rotational Second Law) of the arms. The equations are combined by eliminating the current in equations. They are then re-written in standard ODE form. I have also attached the course notes.

Simulation is done in Simulink with arbitrary PID controller gains. There is also a script that displays the Simulink output in a simple animation.

We are learning about Intelligent Control techniques with application in robotics; look forward to implement those at some point (will definitely be done if they appear as another coursework!).