Modelling and control of a Robotic manipulator(arm) using the Robotics Systems Toolbox.

I'd like to model and control a Robotic manipulator(arm) using the Robotics Systems Toolbox. From what I know, I need to get a kinematic model and a dynamic model of the robot. From here I want apply my custom controller (PID, Optimal, ILC) on the equation/model and simulate it to compare the inefficiencies of the controllers when the robot is given a certain task.

Using the Robotics Systems toolbox(RST), I am able to solve the kinematics and dynamics automatically. This means, I am not able to get a dynamic model but only get the final trajectory. Hence, I am not able to apply my controllers on top of the model itself. Is there anyway for me to extract the dynamic model and apply my own controllers with RST or is there another method I can do this without RST?

Answer 1

[Tohru Kikawada]

You can simply caclulate the manipulator dynamics using forwardDynamics method in the robotics.RigidBodyTree.