Control Theory

We want to develop the robot control using Matlab Simulink which provides many pre-cooked modules for closed loop control.

SimMechanics: Jacobian Model
The simulink model built with SimMechanics blocks using the data (mass, inertia, dimentions, etc.) acquired from 3D model and the model with contact with floor: Jacobian_Model.zip.

SimMechanics: 3 links inverted pendulum
First experiences with LQR control was performed with a 3 links inverted pendulum in vertical equilibrium:
3_links_inverted_pendulum_V1.zip.
Tests with 3 links in a normal posture was performed in SimMechanics: 3_links_inverted_pendulum_V2.zip.