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Dynamics Simulator for Kinematic Chains

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The library is a basic dynamic simulator for kinematic chains. You just need to provide the symbolic Denavit-Hartenber parameter matrix. 'ComputeDynamics' function uses the Euler-Lagrange method to find the joint-space dynamics equation matrices. SimulateRobot function uses Euler method to simulate the kinematic chain. The rest of the functions are from my earlier submission "Simple Forward Kinematics library for robotic chains"
There is a clear and easy example of a 2DOF pendulum. Feel free to modify add and improve on the code.
P.S. The code still requires lots of development and testing. Testing needs to be done on different DH parameters. I didn't have the time to test for prismatic joints. And the performance is really slow. Any help is appreciated.

Free download from Shareware Connection - The library is a basic dynamic simulator for kinematic chains

Publisher: Bassam Jalgha | License: Shareware
Version: 1.0 | Size: 20 KB | Platform: Matlab, Scripts
Released Date: 27-01-2013 | Rating: 0 | Title: Dynamics Simulator for Kinematic Chains

Author Url: http://www.mathworks.com
Program Info Url: http://www.mathworks.com
Download Url: http://www.mathworks.com/matlabcentral/fx_files/32638/1/DynamicSimulator.zip

More downloads from Dynamics Simulator for Kinematic Chains publisher Bassam Jalgha:

Simple Forward Kinematics library for robotic chains - This submission consists of simple and straight forward functions that plots robotic arm configurations and computes forward kinematics transformation matrices

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