求双摆模型的matlab代码-TwoLink_Manipulator:双连杆机械手的控制、运动和轨迹规划

上传者: 38678057 | 上传时间: 2022-06-10 16:00:00 | 文件大小: 91KB | 文件类型: ZIP
求双摆模型的matlab代码TwoLink_机械手项目 基本信息 该项目对 2DOF 两连杆机械手的运动进行建模。 该项目包括以下求解器,用于估计运动和监测机械手的状态: 前馈转矩控制; 正向运动学; 反向运动学; 速度运动学(计算末端执行器速度); 轨迹规划器(梯形轨迹); 技术 使用的软件和语言: C++ 版本 11; CMake 最低要求版本 3.14; 需要特定工具和外部库 获取内容 googletest GIT_TAG 版本 - 1.8.0 本征 GIT_TAG - 3.3.7 可以使用 FetchContent 将上述库链接到 CMake 项目,如项目 CMakeLists.txt 中所示。 设置 要运行这个项目,直接从仓库地址克隆项目: $ git clone "https://github.com/MajedYassin/TwoLink_Manipulator.git" $ cd $ mkdir build $ cd build $ cmake .. $ make -j "number of threads available"

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