Kinematic/Dynamic Control of a Two Link Manipulator

Version 1.1.0.0 (7.78 MB) by Hrishi Shah
Kinematic and Dynamic models of a Two Link Manipulator undergo non-linear feedback linearization.
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Updated 16 Feb 2010

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The standard problem of a Two Link Manipulator is developed both kinematically and dynamically. It is then controlled to trace a rotated ellipse. The non-linear terms (like gravity/inertia etc.) are exclusively canceled out in varying degrees and the performance studied.
This file was created as a Homework assignment of MAE513 (Robot Mobility and Manipulation) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

Cite As

Hrishi Shah (2026). Kinematic/Dynamic Control of a Two Link Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/23963-kinematic-dynamic-control-of-a-two-link-manipulator), MATLAB Central File Exchange. Retrieved .

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Created with R2008a
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1.1.0.0

Acknowledged prof. of course in description.
1.0.0.0