There are two files uploaded.
One file computes the dynamic model of a Stewart - Gough parallel robot for task space control. The dynamic model is explicit and only depend on end effector position and velocity.
The other file computes the regressor matrix Y used in an adaptive controller based on such dynamic model.
The interested readers can download the articles  and  for further information.
 E. Yime, R. Salteren, J. Diaz. Robust adaptive control of the Stewart-Gough robot in the task space. American Control Conference. 2010.
 E. Yime, R. Salteren, C. Garcia, J.M. Sabater. Robot based on task-space dynamical model. IET Control Theory & Applications, (V:5,I:18). 2011.
Eugenio (2022). Stewart - Gough Dynamic Model and Task Space Control (https://www.mathworks.com/matlabcentral/fileexchange/55028-stewart-gough-dynamic-model-and-task-space-control), MATLAB Central File Exchange. Retrieved .
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