Assignments for the course of Advanced Control Systems at UNIVR.
Each folder correspond to one assignment, within there is its main file.
The first part of the project computes a symbolic robot dynamic model for the provided .urdf. In the folders Energy, LagrangianDynamicModel and NewtonEulerDynamicModel there are all the steps to compute the model. In order to compare the results with the ones from the Robotics System Toolbox from MATLAB everything has been computed numerically. Everything is explained in the report.
In the folder simulink there are all the schema applied to the computed dynamic model. In particular we focus on motion and force control. Each subfolder has its parameters and model architecture. All the achieved results are shown in the report.