Dynamic Control of Two Link Manipulator with redundant coordinates 1.0

Date Added: June 09, 2013 | Visits: 479

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A Two Link Manipulator is a standard problem. We have tried to model it with 4 parameters making two parameters redundant. We have resolved this redundancy and controlled it with three methods:1) Projection to Feasible Motion Space2) Projection to Feasible Force Space3) Projection to Feasible Force Space with constraint stabilizationWe have also investigated the effect of having initially violated constraints on the performance of these methods.This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

Requirements: No special requirements

Platforms: Matlab

Keyword: Assignment, Buffalo, Constraints, Created, Effect, Homework, Initially, Krovi, Mae, Manipulation, Methodsthis, Mobility, Performance, Robot, Supervision, Venkat, Violated

Users rating: 0/10

License: Freeware

Size: 3.8 MB

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DYNAMIC CONTROL OF TWO LINK MANIPULATOR WITH REDUNDANT COORDINATES RELATED

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