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MATLAB Impedance Control for a 2-Link Robot Arm - User-interactive

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.

Files

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

Video

https://www.youtube.com/watch?v=cmW7pRLut8A