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:

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

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