Project details: https://github.com/syedjameel/Dynamic-Models-Stanford-Manipulator/blob/de44423261d49169cc829d1952a2c96be5d94286/Home%20task%204_%20Dynamics.pdf

1. Euler-Lagrange Dynamic Model
2. Plot the Torques for Euler-Lagrange
3. Newton-Euler Dynamic Model
4. Plot the Torques for Newton-Euler

1. Drive the Manipulator using Trapezoidal Profile
2. Drive the Manipulator using Polynomial Profile
3. Plot the Torque graphs for both

This Assignment consists of multiple files. The helper files are SimpleTranformations.py, StanfordManipulatorKinematics.py, newton_euler.py, trajectory_planning.py and utils.py. And this Assignment is run by a single driver code main.ipynb in the main folder.

Also Note that the Report is included in the main.ipynb file.

• Clone project using command:

https://github.com/syedjameel/Dynamic-Models-Stanford-Manipulator.git

Dynamic-models-for-Stanford-Manipulator/
├── Home task 4_ Dynamics.pdf
├── main.ipynb
├── newton_euler.py
├── README.md
├── screenshots
│   ├── euler-lagrange.png
│   ├── newton-euler1.png
│   └── newton-euler2.png
├── SimpleTranformations.py
├── StanfordManipulatorKinematics.py
├── trajectory_planning.py
└── utils.py

1. Run the following command to navigate to the directory using:

   cd Dynamic-Models-Stanford-Manipulator/ 

2. Run the following command to install dependent libraries:

   pip3 install -r requirements.txt

3. Finally, Run the main.ipynb file [In Jupyter notebook or colab]