Exploration of robot dynamics and control architectures. The project was developed during the course Advanced Control Systems at University of Verona and it contains a full analysis of an assigned 3DOF robot (RPP):
- Kinematics (Direct, Inverse, Differential)
- Dynamics (Lagrangian, RNE formulations)
The following control architectures are implemented in Matlab Simulink:
- Joint Space PD with gravity compensation
- Joint Space Inverse Dynamics
- Operational Space PD with gravity compensation
- Operational Space Inverse Dynamics
- Compliance Control
- Impedance Control
- Admittance Control
- Force with inner position loop
- Parallel Force control
- Adaptive Control (for a 1 DOF link for simplicity)
A minimal report is provided in docs
- Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo Robotics: Modelling, Planning and Control