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40:03
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Elias Brassitos
MATLAB tutorial for visualizing forward-dynamics of serial manipulators
Code is listed below. Run upper portion first to obtain the symbolic values of the angular accelerations then insert in loop to numerically solve and simulate time response. clc; clearvars ; clf % syms l1 l2 theta1 theta2 w1 w2 alpha1 alpha2 % syms m1 m2 I1 I2 g T1 T2 % % H0_g1 = RotZ(theta1) * TransX(l1/2); % H0_1 = RotZ(theta1) * TransX(l1 ...
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