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Looking for help in configuring 2 link robot system and controller in Simulink

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vemplord

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Hello,

I have been working on Looking for help in configuring 2 link robot system and controller in Simulink.

Starting with DH and moving to dynamic equations then state space and program it in Simulink.

After trying to run in and monitor the angle of the arms I found that I have a problem somewhere.

The arms are moving even though the starting conditions are zero.

We also design a PD control for it. (Currently not connected)

I am looking for someone to help me first for checking the dynamics, Euler-Lagrange equations, and then the all system in Simulink.

The next steps is connecting the PD control, then moving to PATH AND
TRAJECTORY and adaptive control.

I can send all the data including MTLAB files.

Any help, even a paid one will be welcome.
 
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