A complete Mathematica notebook which shows derivation of Kinematics, Dynamics, and PID Trajectory Tracking Controller for a 7 DOF robotic manipulator.
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Updated
Sep 13, 2024 - Mathematica
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This Mathematica notebook provides development of a Forward Kinematic model, Inverse Kinematic Model, and Dynamic model using Generalized Momenta method of a Universal Omni Wheeled mobile robot. Also, a PID trajectory tracking controller was developed to track different trajectories with very small error.
kinematics dynamics mobile-robots pid-control sliding-mode-control lqr-controller path-following pole-placement
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Updated
Sep 13, 2024 - Mathematica
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