These files were created by Philip Thomas, Sophie Jacobson, and Rachel Blake in completion of the Robotics Laboratory at Washington University in St. Louis. It uses a mathematical model of a robot arm to swing the arm up
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anim_function.mdl: Simulink visualization of the robot position based on the encoder readings
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BalancePoles.m: Function we used to place the poles of the system at a desired location.
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Hamiltonian.m - Determines the system parameters using Lagrangian mechanics
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lab2.m: Deprecated - sets system parameters as global variables
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lab2animation.m: Helper functions for the animation function
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lab2fxn.m: Calculates new time constants based on current constants
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robot.m: Draws the robot on the screen
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robot2.m: Improved robot plotter
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Robot_anim.m: Dynamic robot plot as a function of a theta input
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Robot_control.mdl - This simulink model controls the whole simulation. It is what interfaces with the robot to swing it up and balance it.
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robot_real.m: Work envelope visualization
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TRANS0_1.m: Transition matrix
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TRANS1_2.m: Transition matrix