hello, your project about impedance cotrol of two links model was so excellent.
I want to change the codes to adpat my robot arm which have four freedoms.
I want to know that how you get the code below?It exists in the CodeGenerator.m.
tau_impedance = J.'([kpx,0;0,kpy]([xd;yd]-[xee;yee]) + [kdx,0;0,kdy]*([xdotd;ydotd]-[xeedot;yeedot]));
thank you!
hello, your project about impedance cotrol of two links model was so excellent. I want to change the codes to adpat my robot arm which have four freedoms. I want to know that how you get the code below?It exists in the CodeGenerator.m. tau_impedance = J.'([kpx,0;0,kpy]([xd;yd]-[xee;yee]) + [kdx,0;0,kdy]*([xdotd;ydotd]-[xeedot;yeedot])); thank you!