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The goal of the project ROSdyn is to realize a ROS-based package that implement a fully automated procedure able to calibrate the robot dynamics model. The use of ROS ecosystem enable the standardization of several steps of the procedure, such as the messages exchanged between nodes. A further step towards standardization is represented by the u…
Trajectory simulation of the Pelican Prototype Robot of the CICESE Research Center, Mexico. The position control used was PD control with gravity compensation and the 4th order Runge-Kutta method.
First assignment of Robot Dynamics and Control, regarding the study of the momentum of different configurations of a two-joints manipulator, using Matlab
In this repository, dynamic model for 6DOF robot is derived using Euler-Lagrange approach. Inertia matrix, Coriolis matrix, and gravity vector are calculated. The repository is also a solution for Assignment4 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.