This repository contains code associated with the paper "Maneuver-based control of the 2-degrees of freedom underactuated manipulator in normal form coordinates" (Link).
The code is written in Python 2.7.
It depends on the packages numpy
, scipy
and matplotlib
which do all ship with python distributions like
winpython or Anaconda
To run the default maneuver use the command python main_maneuver_control.py
.
This file can be easily adapted to perform other equilibrium transitions.