# auralius/LE-symbolic-dynamic-general-kinematic-chains

Dynamic simulation with Lagrange-Euler for a general kinematic chain defined by sets of DH parameters.
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# Dynamic equation with Lagrange-Euler for a general kinematic chain defined by sets of DH parameters.

Simple and straight-forward implementation of DH-parameters in MATLAB
This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot.

Features:

• Kinematics
• Forward kinematics
• Homogenous transformation of each link of the robot
• Numerical jacobian
• Forward dynamics
• Simple visualization, it can also be animated

Auralius Manurung manurung.auralius@gmail.com

Notes:
All position coordinates, mass matrix M. and generalized forces u are in column vector (n x 1)!
Example: for a 3-DOF robot, M = [1; 1; 1], x0 = [0; 0; 0; 0; 0; 0] and so on and so forth.

Main references:
http://youngmok.com/lagrange-equation-by-matlab-with-examples/