Tools and exercises for the "robotics2" course
Parametrization.m is a script which estimates uknown parameters (mass, inertia, arm lengths..) of an RPR manipulator. Moreover, it implements an adaptive trajectory controller. Just launch it on MATLAB and have fun!
I follow the Lagrangian formulation of the robot dynamics, with inertia matrix M and Coriolis terms c.
I have 2 remarks:
- For this particular case I assume g(q)=0, given that our RPR Robot lies on an horizontal plane
- Known parameters: mass, length and CoM position of link3