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

Version 1.0.0.0 (8.95 KB) by Matthew Sheen
Click and drag to watch the arm respond. Includes well-commented derivation code.
5.0
(9)
2.4K Downloads
Updated 25 Jun 2016
View License on GitHub

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

Cite As

Matthew Sheen (2026). Impedance Control for a 2-Link Robot Arm - User-interactive (https://github.com/mws262/MATLABImpedanceControlExample), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2012b
Compatible with any release
Platform Compatibility
Windows macOS Linux
Tags Add Tags

Versions that use the GitHub default branch cannot be downloaded

Version Published Release Notes
1.0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.