毕业设计&课设-由DH参数集定义的一般运动链的拉格朗日-欧拉动力学仿真。.zip

# Dynamic equation with Lagrange-Euler for a general kinematic chain defined by sets of DH parameters. Simple and straight-forward implementation of DH-parameters in MATLAB This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot. Features: * Kinematics * Forward kinematics * Homogenous transformation of each link of the robot * Numerical jacobian * Forward dynamics * Simple visualization, it can also be animated [](https://www.youtube.com/watch?v=1-DPLmx6FWc) Auralius Manurung [email protected] Notes: All position coordinates, mass matrix M. and generalized forces u are in column vector (n x 1)! Example: for a 3-DOF robot, M = [1; 1; 1], x0 = [0; 0; 0; 0; 0; 0] and so on and so forth. Main references: http://youngmok.com/lagrange-equation-by-matlab-with-examples/