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kuka youbot
MATLAB
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Base.step
Bicep.step
Electronics Board.step
Finger A.step
Finger B.step
Forearm Black Inlay.step
Forearm.step
Gripper Housing A.step
Gripper Housing B.step
Gripper Pivot.step
Motor Finger A.step
Motor Finger B.step
Pin Gripper Pivot 1.step
Pin Gripper Pivot 2.step
Pin Gripper Pivot 3.step
Pin Gripper Pivot 4.step
Pin Housing A1.step
Pin Housing A2.step
Pin Housing B1.step
Pin Housing B2.step
Pin Housing C1.step
Pin Housing C2.step
Pivot Black Inlay.step
Pivot.step
README.md
Wrist.step
forwardKin.m
generateTrajectory.m
generateTrajectory.m~
getC.m
getM.m
get_N.m
inverse_dynamics.m
main
main.m
passivity_normal.m
robustControl.m
youBot.slx
youBot.xml
youBot_DataFile.m
youBot_damping.slx
youBot_torque.slx

README.md

Kuka_youbot

For expressing the dynamic model of kuka youbot robotic arm in

Mq_dd+Cq_d+N=T

M: Inertia Matrix

C: Coriolis Matrix

N: Gravity Matrix

T: Torque

forwardkin.m is used for finding end effector position from joint angle

getC is to get Coriolis matrix given q,q_d

getM is to get Inetia matrix given q

getN is to get Gravity matrix given q

Main File

To run the simulation, run main.m

40 and 41 lines call Inverse Dynamics and Passivity control (you can comment or uncomment them)

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