2-link planar arm with a compliant controller and gravity compensation. The user can click and drag to move the end-effector's target position. Hit a keyboard key to change to "disturbance-mode." This mode instead applies a disturbance force to the end-effector.
MAIN.m -- Run this first! Plotter.m -- Display the arm and integrate the equations in real time deriverRelativeAngles.m -- Derives all dynamics and controls equations. ALL other files -- Auto-written by deriverRelativeAngles.m