End-stability-control-Simulink-CoppeliaSim

Simulink model and CoppeliaSim model of ”Stability Control for End Effector of Mobile Manipulator in Uneven Terrain Based on Active Disturbance Rejection Control” [TOC]

Code to help calculate kinematic and dynamic equations for manupulator

kinematic and dynamic model caculation.m We write the code based on the Robotics Toolbox in matlab by Peter Corkehttps://petercorke.com/toolboxes/robotics-toolbox/.

The calculation algorithm of kinematics and dynamics equation is refer to Niku, S.B. (2020), Introduction to robotics: analysis, control, applications, John Wiley & Sons, Weinheim.

Simulink control model

dinggao_x_herbustTuning.slxc dinggao.slxc

CoppeliaSim scene model

The size of the model is over the upload limit size 25M of Github. So you can download it in the other websitehttps://download.csdn.net/download/weixin_43658047/15086502