Directly run main.m file.
In main.m file, there are two parts, can run them separately or togather.
All other functions have very detail explanation.
Simulation results：
The files can be ran directly. The file can be used to derive NE equations and LE equation theoretically. All variables are subject to replace with real numerical value. Comparation between N-E and L-E
Step1: Run file Load_rigid_body_tree.m to get rigid body tree in workspace Step2: Run Simulink files.
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