robot-manipulator-dynamics

This repository contains Matlab scripts used to compute Euler-Lagrange dynamic models of a large number of robot manipulators.

Euler-Lagrange Dynamics: M(q)*ddq + c(q,dq) + g(q) = u

dynamics_functions contains all the functions needed to compute the Euler Lagrange dynamics. In particular:

• moving_frame_algo.m
• kinetic_energy
• inertia_matrix.m
• centrifugal_coriolis.m
• factiorization.m
• potential_energy.m

Make sure to setup the Matlab path correctly in order to use this library, or alternatively copy and paste it at the end of your scripts.