Ana Sayfa
Araştırma
BM 504, Robot Control
Example Simulation Files
Home-works
-Vander Pol Oscilator + Observer Conical Form (Week 1)
-Barbalat's Lemma (Week 2)
-2 link Robot Dynamics with type 2 S-function (Week 3)
-Controlability test for Burunovksy Canonical Form (Week 4)
-Simulate Outer loop PD, PID and LQ Computed Torque Controllers on The 2 Link Robot (Week 5)
- Simulate Robust Computed Torque, Sliding Mode and VS Controllers on the 2 link robot (Week 7)
- Simulate Adaptive Computed Torque, Adaptive Inertia Related Controllers on the 2 link robot (Week 9)
- Simulate the Composite Adaptive Controller and compare your results with the gradient base adaptive controller designed previously (Week 10)
- Show that the task space manipulator dynamics have properties similar to that of joint space manipulator dynamics. (Week 12)
Course Notes