# End-stability-control-Simulink-CoppeliaSim

**Repository Path**: yonson39/End-stability-control-Simulink-CoppeliaSim

## Basic Information

- **Project Name**: End-stability-control-Simulink-CoppeliaSim
- **Description**: Simulink model and CoppeliaSim model of ”Stability Control for End Effector of Mobile Manipulator in Uneven Terrain Based on Active Disturbance Rejection Control”
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-11-25
- **Last Updated**: 2021-11-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# 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 Corke<https://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 website<https://download.csdn.net/download/weixin_43658047/15086502>