├── Control_project_Report.pdf ├── PresentationSlides.pptx ├── README.md ├── dh parameters ├── Robotics Toolbox for MATLAB.mltbx ├── computeFK.m ├── dhparam2matrices.m └── dhparamtest.m ├── dynamic modeling ├── Dynamic_modelling_temporary │ ├── C_Matrix.m │ ├── D_Matrix.m │ ├── G_Vector.m │ ├── Jacobian.m │ ├── computeJa.m │ └── functionification.m ├── Dynamics.m ├── computeC.m ├── computeG.m ├── computeJ.m ├── computeJa.m ├── computeJdot.m ├── computeM.m └── functionification.m ├── results ├── CTC_circle_M11_noise.jpg ├── CTC_circle_perfect.jpg ├── EE_passivity_robust_ode15s_em4.fig ├── anotherfancyart.jpg ├── just_passivity_with_error.jpg ├── passivity_based_controller.jpg ├── passivity_based_robust_circle.jpg ├── passivity_based_robust_circle_error.jpg ├── passivity_based_robust_circle_very_large_error.jpg ├── robust_circle_close_to_perfect.jpg ├── robust_circle_with_mismatch_rho_100.jpg ├── robust_passivity_based_with_init_error.avi ├── straight_line_first_iteration.fig ├── task_space_CTC_ode15s_em6.avi ├── task_space_passivity_ode15s_em6.avi ├── task_space_passivity_ode15s_em6.fig ├── task_space_passivity_robust_ode15s_em4.avi ├── task_space_robust_ode15s_em6.avi ├── task_space_robust_ode15s_em6d.fig ├── task_space_robust_with_mismatch_rho_100.avi ├── taskspace_CTC_ode15s_em6.fig ├── taskspace_robust_ode15s_em3.fig ├── theshell.fig └── workspace_wink.jpg ├── slprj ├── _jitprj │ ├── jitEngineAccessInfo.mat │ ├── sxzCIxUxZpZjXJFp23J1kkD.l │ └── sxzCIxUxZpZjXJFp23J1kkD.mat ├── _sfprj │ ├── EMLReport │ │ ├── emlReportAccessInfo.mat │ │ └── sxzCIxUxZpZjXJFp23J1kkD.mat │ ├── precompile │ │ ├── 4DIn2bfpestU4AvbBArBtF.mat │ │ └── autoInferAccessInfo.mat │ └── ur5_v3 │ │ └── _self │ │ └── sfun │ │ └── info │ │ └── binfo.mat └── sim │ └── varcache │ ├── ur5_v3 │ ├── checksumOfCache.mat │ ├── tmwinternal │ │ └── simulink_cache.xml │ └── varInfo.mat │ └── ur5_v5 │ ├── checksumOfCache.mat │ ├── tmwinternal │ └── simulink_cache.xml │ └── varInfo.mat ├── trajectory generation ├── generatePolynomialManipulatorTrajectory.m ├── slprj │ ├── _jitprj │ │ ├── jitEngineAccessInfo.mat │ │ ├── sJihzCiJIztcrkZ3OKH6opG.l │ │ ├── sJihzCiJIztcrkZ3OKH6opG.mat │ │ ├── sKTImglAxC9DNbcu0GizRSE.l │ │ ├── sKTImglAxC9DNbcu0GizRSE.mat │ │ ├── saznlgWirLmaemWEK8rFs5E.l │ │ ├── saznlgWirLmaemWEK8rFs5E.mat │ │ ├── slsgUgABL6VOvEK30GNyvlB.l │ │ ├── slsgUgABL6VOvEK30GNyvlB.mat │ │ ├── sn7gk5DwQGiClpO4a62ruqB.l │ │ ├── sn7gk5DwQGiClpO4a62ruqB.mat │ │ ├── ssV43vYwRnlyXvsgSHdIItG.l │ │ ├── ssV43vYwRnlyXvsgSHdIItG.mat │ │ ├── sw9EumxVIjZ8XxZgGGIuJwE.l │ │ └── sw9EumxVIjZ8XxZgGGIuJwE.mat │ ├── _sfprj │ │ ├── EMLReport │ │ │ ├── emlReportAccessInfo.mat │ │ │ ├── sJihzCiJIztcrkZ3OKH6opG.mat │ │ │ ├── sKTImglAxC9DNbcu0GizRSE.mat │ │ │ ├── saznlgWirLmaemWEK8rFs5E.mat │ │ │ ├── slsgUgABL6VOvEK30GNyvlB.mat │ │ │ ├── sn7gk5DwQGiClpO4a62ruqB.mat │ │ │ ├── ssV43vYwRnlyXvsgSHdIItG.mat │ │ │ └── sw9EumxVIjZ8XxZgGGIuJwE.mat │ │ ├── precompile │ │ │ ├── FYojATdlbqlIwFPgsOz6PD.mat │ │ │ ├── Fj1hLJjf1xoRyDTMZoeXdC.mat │ │ │ ├── IIQXRSA6WMghy87F2GOytB.mat │ │ │ ├── LWYh6wYudcsDR7A75pSBfC.mat │ │ │ ├── Rj831eku0G09cCeD80HKYD.mat │ │ │ ├── autoInferAccessInfo.mat │ │ │ ├── hVythHbm3TxruT13mxo8hH.mat │ │ │ └── mciNWgUBaPVJDU64C4zszF.mat │ │ └── ur5_v1 │ │ │ └── _self │ │ │ └── sfun │ │ │ └── info │ │ │ └── binfo.mat │ └── sim │ │ └── varcache │ │ └── ur5_v1 │ │ ├── checksumOfCache.mat │ │ ├── tmwinternal │ │ └── simulink_cache.xml │ │ └── varInfo.mat ├── trajectoryGeneration.m └── ur5_v1.slxc ├── ur5_v3.slxc ├── ur5_v5.slxc └── ur_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── launch ├── test.launch ├── ur10_upload.launch ├── ur3_upload.launch └── ur5_upload.launch ├── meshes ├── slprj │ └── sim │ │ └── varcache │ │ └── ur5_v1 │ │ ├── checksumOfCache.mat │ │ ├── tmwinternal │ │ └── simulink_cache.xml │ │ └── varInfo.mat ├── ur10 │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── ur3 │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── ur5 │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae └── ur5_v1.slxc ├── model.pdf ├── package.xml ├── slx ├── DH_matrix.m ├── DynamicsGenerationUR5.m ├── InverseDynamicsControllerCircle.m ├── InverseDynamicsControllerLine.m ├── JustPassivityBasedControllerCircle.m ├── JustPassivityBasedControllerLine.m ├── PassivityBasedRobustCircle.m ├── PassivityBasedRobustLine.m ├── RobustControllerCircle.m ├── RobustControllerLine.m ├── data_file.m ├── old_versions │ ├── ur5_v1.slx │ ├── ur5_v1.slx.original │ ├── ur5_v1.slxc │ ├── ur5_v2.slx │ ├── ur5_v2.slxc │ ├── ur5_v3.slx │ ├── ur5_v3.slxc │ └── ur5_v4.slx ├── plotEE.m ├── slprj │ ├── _jitprj │ │ ├── jitEngineAccessInfo.mat │ │ ├── s0thurfGrMfrGQ3y6mENS1F.l │ │ ├── s0thurfGrMfrGQ3y6mENS1F.mat │ │ ├── s2p3XhokoONqEHl2iMtQyZF.l │ │ ├── s2p3XhokoONqEHl2iMtQyZF.mat │ │ ├── s38YSogy38td3gJRVdgI04E.l │ │ ├── s38YSogy38td3gJRVdgI04E.mat │ │ ├── s3oSPtrKdAlTE1tElDDE7tG.l │ │ ├── s3oSPtrKdAlTE1tElDDE7tG.mat │ │ ├── s4WntoZKIqtBmINXVljGUeG.l │ │ ├── s4WntoZKIqtBmINXVljGUeG.mat │ │ ├── s5NLydSBKRNiZN30RnYGvFG.l │ │ ├── s5NLydSBKRNiZN30RnYGvFG.mat │ │ ├── s6k8YnRVt6ORPR8gLlSGVBC.l │ │ ├── s6k8YnRVt6ORPR8gLlSGVBC.mat │ │ ├── s6lgRg4UT79sbd2Y9MEKjTD.l │ │ ├── s6lgRg4UT79sbd2Y9MEKjTD.mat │ │ ├── s8AkSca1qf782qFOg3bubOE.l │ │ ├── s8AkSca1qf782qFOg3bubOE.mat │ │ ├── s9BdStnqsSQmq05wIrJFKaE.l │ │ ├── s9BdStnqsSQmq05wIrJFKaE.mat │ │ ├── s9FH7M7XMLZh5vihdk2xKvF.l │ │ ├── s9FH7M7XMLZh5vihdk2xKvF.mat │ │ ├── s9IIy2P9FIx4eiBdgLQahNG.l │ │ ├── s9IIy2P9FIx4eiBdgLQahNG.mat │ │ ├── s9fOGIvNfsHPpjVwscsDaS.l │ │ ├── s9fOGIvNfsHPpjVwscsDaS.mat │ │ ├── sA0rAQciBwe5zXix97RkhmF.l │ │ ├── sA0rAQciBwe5zXix97RkhmF.mat │ │ ├── sAavXNNJNFiuCWHSc6cOyJD.l │ │ ├── sAavXNNJNFiuCWHSc6cOyJD.mat │ │ ├── sBIa8QPcAiWoBDy22nQDZ3.l │ │ ├── sBIa8QPcAiWoBDy22nQDZ3.mat │ │ ├── sCLJeCZLbnVUExn4LfpRcuE.l │ │ ├── sCLJeCZLbnVUExn4LfpRcuE.mat │ │ ├── sCY4UoOTg89Th1vdCbBkPAD.l │ │ ├── sCY4UoOTg89Th1vdCbBkPAD.mat │ │ ├── sCYPUVYjmIKfCGsrwSUkFqC.l │ │ ├── sCYPUVYjmIKfCGsrwSUkFqC.mat │ │ ├── sCjiMMe7aqWN3FyAj91a4tH.l │ │ ├── sCjiMMe7aqWN3FyAj91a4tH.mat │ │ ├── sCv9hBET8vlgierRW77ja9F.l │ │ ├── sCv9hBET8vlgierRW77ja9F.mat │ │ ├── sEol60ndjxqMvKLzki4KmbF.l │ │ ├── sEol60ndjxqMvKLzki4KmbF.mat │ │ ├── sFriJTJFS6GIxjbymEzmLcC.l │ │ ├── sFriJTJFS6GIxjbymEzmLcC.mat │ │ ├── sGMcwKnlJvRZOAqvtdcyHFG.l │ │ ├── sGMcwKnlJvRZOAqvtdcyHFG.mat │ │ ├── sGpAgU6SQfVEsZstRsqQyo.l │ │ ├── sGpAgU6SQfVEsZstRsqQyo.mat │ │ ├── sGuzwAMKOZT0gqx5aQwENtH.l │ │ ├── sGuzwAMKOZT0gqx5aQwENtH.mat │ │ ├── sH1ybNMQr7lTQyPQY5mw8mE.l │ │ ├── sH1ybNMQr7lTQyPQY5mw8mE.mat │ │ ├── sHs8Ppx4qWlRlNxmOVQcv3F.l │ │ ├── sHs8Ppx4qWlRlNxmOVQcv3F.mat │ │ ├── sII7SIrGZHOnSxlnWTRMVUH.l │ │ ├── sII7SIrGZHOnSxlnWTRMVUH.mat │ │ ├── sIID1Z1DZDUfkhXFZlWeJtG.l │ │ ├── sIID1Z1DZDUfkhXFZlWeJtG.mat │ │ ├── sIhIBrNs1t4gMrxWuDWRmHG.l │ │ ├── sIhIBrNs1t4gMrxWuDWRmHG.mat │ │ ├── sIpRheXztQWQfzN53SI7gDH.l │ │ ├── sIpRheXztQWQfzN53SI7gDH.mat │ │ ├── sLHCgM9T1NAsOmOPTKxdHyB.l │ │ ├── sLHCgM9T1NAsOmOPTKxdHyB.mat │ │ ├── sLb9TCyfpctBMiFgoe6FWdG.l │ │ ├── sLb9TCyfpctBMiFgoe6FWdG.mat │ │ ├── sLcHq3OrC0bkPiItIKTLMuB.l │ │ ├── sLcHq3OrC0bkPiItIKTLMuB.mat │ │ ├── sMQwqpgtjt6pkJz90MqVGYC.l │ │ ├── sMQwqpgtjt6pkJz90MqVGYC.mat │ │ ├── sNQ6LNsKYN4bxGal63Az3d.l │ │ ├── sNQ6LNsKYN4bxGal63Az3d.mat │ │ ├── sNksHehWsEW8GXzVrx4zTIC.l │ │ ├── sNksHehWsEW8GXzVrx4zTIC.mat │ │ ├── sNuFjLJTS6wlzNP6ok0e65D.l │ │ ├── sNuFjLJTS6wlzNP6ok0e65D.mat │ │ ├── sO1G0f5YGlKnXUhqZ8dEa4.l │ │ ├── sO1G0f5YGlKnXUhqZ8dEa4.mat │ │ ├── sQFGWtANq9XL1YWPHOaxK5C.l │ │ ├── sQFGWtANq9XL1YWPHOaxK5C.mat │ │ ├── sQdoT41vbrFfMlbfpHp0fCB.l │ │ ├── sQdoT41vbrFfMlbfpHp0fCB.mat │ │ ├── sR1l491joKkUgcAe5vjB5j.l │ │ ├── sR1l491joKkUgcAe5vjB5j.mat │ │ ├── sS9uO4n1dfsBoyxcFitaXWD.l │ │ ├── sS9uO4n1dfsBoyxcFitaXWD.mat │ │ ├── sTktbN37rq9it1UslkEw56.l │ │ ├── sTktbN37rq9it1UslkEw56.mat │ │ ├── sU4dSbRak1jJTLkSXVzexND.l │ │ ├── sU4dSbRak1jJTLkSXVzexND.mat │ │ ├── sUCb9nSlDwaW3adWnOzDYyB.l │ │ ├── sUCb9nSlDwaW3adWnOzDYyB.mat │ │ ├── sUXUgNZmPxpPiQEcNjPqYlC.l │ │ ├── sUXUgNZmPxpPiQEcNjPqYlC.mat │ │ ├── sUotHTurCtcWLU3VCkNl4SC.l │ │ ├── sUotHTurCtcWLU3VCkNl4SC.mat │ │ ├── sV3V2Ls407whT83rlbrEhwB.l │ │ ├── sV3V2Ls407whT83rlbrEhwB.mat │ │ ├── sXLdP9E8ICMnyKOaU8JbamC.l │ │ ├── sXLdP9E8ICMnyKOaU8JbamC.mat │ │ ├── sXcquWpSMHRHe4vRGOcFtHH.l │ │ ├── sXcquWpSMHRHe4vRGOcFtHH.mat │ │ ├── sXh0qC5ZTnuvY2OjejB6jgF.l │ │ ├── sXh0qC5ZTnuvY2OjejB6jgF.mat │ │ ├── sZ3VAbYjrjYRjZuVDGoignD.l │ │ ├── sZ3VAbYjrjYRjZuVDGoignD.mat │ │ ├── sZXli5reJNGpFuoBVmRY1JH.l │ │ ├── sZXli5reJNGpFuoBVmRY1JH.mat │ │ ├── sZhKycMykWMtTXCFfUBpSZB.l │ │ ├── sZhKycMykWMtTXCFfUBpSZB.mat │ │ ├── sa47sm4Di9esBdoACm34xHH.l │ │ ├── sa47sm4Di9esBdoACm34xHH.mat │ │ ├── sb2akYdpboOJNpbW0dod0JF.l │ │ ├── sb2akYdpboOJNpbW0dod0JF.mat │ │ ├── sbD8DEpHGPXw359M7eX9PlF.l │ │ ├── sbD8DEpHGPXw359M7eX9PlF.mat │ │ ├── sbZWMBx7X2eSEpwkaKfrkVB.l │ │ ├── sbZWMBx7X2eSEpwkaKfrkVB.mat │ │ ├── sbguH2PDbNlYv7MxXsNUpyG.l │ │ ├── sbguH2PDbNlYv7MxXsNUpyG.mat │ │ ├── sc1d5c50pdYlVATwNBh2wDC.l │ │ ├── sc1d5c50pdYlVATwNBh2wDC.mat │ │ ├── scSFdvLU2DnVoiyWA1IUhf.l │ │ ├── scSFdvLU2DnVoiyWA1IUhf.mat │ │ ├── scTzkwVMJG15AMbM8nerJLD.l │ │ ├── scTzkwVMJG15AMbM8nerJLD.mat │ │ ├── scyIbzdYxmsLxB0pFH10rvG.l │ │ ├── scyIbzdYxmsLxB0pFH10rvG.mat │ │ ├── sd3cSvgZXUvQiqNCAlafBqG.l │ │ ├── sd3cSvgZXUvQiqNCAlafBqG.mat │ │ ├── sdPbxwooq9QS0IgKEJDV3nF.l │ │ ├── sdPbxwooq9QS0IgKEJDV3nF.mat │ │ ├── sdev5vaDbhvdVe1YnMDYpvH.l │ │ ├── sdev5vaDbhvdVe1YnMDYpvH.mat │ │ ├── seP8ibxe0qASekSMTKJ0wcG.l │ │ ├── seP8ibxe0qASekSMTKJ0wcG.mat │ │ ├── sgHBJOe8JmyfAdVaSe8qyTF.l │ │ ├── sgHBJOe8JmyfAdVaSe8qyTF.mat │ │ ├── sgNgt3n4LnrEZqnq7C11jaF.l │ │ ├── sgNgt3n4LnrEZqnq7C11jaF.mat │ │ ├── shjYuNvHeu7pTx4stef8FRG.l │ │ ├── shjYuNvHeu7pTx4stef8FRG.mat │ │ ├── siOqe4v15nIfL9DxEPbLjW.l │ │ ├── siOqe4v15nIfL9DxEPbLjW.mat │ │ ├── siaxFtdlHzNdeIBvCKNRXoE.l │ │ ├── siaxFtdlHzNdeIBvCKNRXoE.mat │ │ ├── sicLq95VzpOvSujqjECw7EF.l │ │ ├── sicLq95VzpOvSujqjECw7EF.mat │ │ ├── sjwjpGSqAFSPmiSfXIhU5SC.l │ │ ├── sjwjpGSqAFSPmiSfXIhU5SC.mat │ │ ├── skI3n0cbQiSKYhpSFcTTTyD.l │ │ ├── skI3n0cbQiSKYhpSFcTTTyD.mat │ │ ├── skOfcUIaxrlkRWjohKg1ruD.l │ │ ├── skOfcUIaxrlkRWjohKg1ruD.mat │ │ ├── slQPAUfapQku7HpgGj4qoYH.l │ │ ├── slQPAUfapQku7HpgGj4qoYH.mat │ │ ├── smgeejOTHWLb6gkMtOlrVRH.l │ │ ├── smgeejOTHWLb6gkMtOlrVRH.mat │ │ ├── smxu2pRzi7L7ZmIJcQPaAqG.l │ │ ├── smxu2pRzi7L7ZmIJcQPaAqG.mat │ │ ├── snRSDAX9zdwcEaz5vqMTQEH.l │ │ ├── snRSDAX9zdwcEaz5vqMTQEH.mat │ │ ├── soLAhhNGY5vEYni4umdZS1G.l │ │ ├── soLAhhNGY5vEYni4umdZS1G.mat │ │ ├── soheAfQI0xitDxGB0XWK1L.l │ │ ├── soheAfQI0xitDxGB0XWK1L.mat │ │ ├── sot4yTZibhJJcQ8sBnrJEvB.l │ │ ├── sot4yTZibhJJcQ8sBnrJEvB.mat │ │ ├── sq1V0jeatRT5WdUSwzTOpcF.l │ │ ├── sq1V0jeatRT5WdUSwzTOpcF.mat │ │ ├── sqq9CurppfehS8F0sfivMUH.l │ │ ├── sqq9CurppfehS8F0sfivMUH.mat │ │ ├── ssPoFTVOuZGkIDcwMeAMcoC.l │ │ ├── ssPoFTVOuZGkIDcwMeAMcoC.mat │ │ ├── ssSl5QGFws3IK8pcpsYl32.l │ │ ├── ssSl5QGFws3IK8pcpsYl32.mat │ │ ├── ssgEOoYHSMKF1BEQVB5ffpC.l │ │ ├── ssgEOoYHSMKF1BEQVB5ffpC.mat │ │ ├── ssn79colmvyJex9do9VN4qB.l │ │ ├── ssn79colmvyJex9do9VN4qB.mat │ │ ├── ssvAyf8Vks6fZhrhqcBYgn.l │ │ ├── ssvAyf8Vks6fZhrhqcBYgn.mat │ │ ├── st0L97B42w5cIVMXYGRwSVC.l │ │ ├── st0L97B42w5cIVMXYGRwSVC.mat │ │ ├── st7jVcHoFZmIbJKjRftIljG.l │ │ ├── st7jVcHoFZmIbJKjRftIljG.mat │ │ ├── stCpxlT5jLGVqyO2KABafaH.l │ │ ├── stCpxlT5jLGVqyO2KABafaH.mat │ │ ├── suVS7yhibhhhgn9ckqLKYZD.l │ │ ├── suVS7yhibhhhgn9ckqLKYZD.mat │ │ ├── svAlryAglViL2MG5CGnlz.l │ │ ├── svAlryAglViL2MG5CGnlz.mat │ │ ├── svLUnFcDJTv0b7TmkT599RE.l │ │ ├── svLUnFcDJTv0b7TmkT599RE.mat │ │ ├── svhZ3LXVmeW6sVCbxrC7ys.l │ │ ├── svhZ3LXVmeW6sVCbxrC7ys.mat │ │ ├── swLyCwnL9ooiALZSDcGwWl.l │ │ ├── swLyCwnL9ooiALZSDcGwWl.mat │ │ ├── swMsqd7nIBfP7tUAoQ8Z4E.l │ │ ├── swMsqd7nIBfP7tUAoQ8Z4E.mat │ │ ├── sxQgJD8dd5hMpMlZfDpQeeH.l │ │ ├── sxQgJD8dd5hMpMlZfDpQeeH.mat │ │ ├── sxZ2GOicQzVloj9An9qjATG.l │ │ ├── sxZ2GOicQzVloj9An9qjATG.mat │ │ ├── sxbIVt0OQoR2rH2Duz7IKJB.l │ │ ├── sxbIVt0OQoR2rH2Duz7IKJB.mat │ │ ├── sxwd4PhLnzIw7qDf2FiQO2E.l │ │ ├── sxwd4PhLnzIw7qDf2FiQO2E.mat │ │ ├── sy0BWic3RTTWzfa7AeegjTE.l │ │ ├── sy0BWic3RTTWzfa7AeegjTE.mat │ │ ├── symELb4CsQIu5e2uRYjsJ8C.l │ │ ├── symELb4CsQIu5e2uRYjsJ8C.mat │ │ ├── szLXEfIb4R1dt3pwZhZbAuH.l │ │ ├── szLXEfIb4R1dt3pwZhZbAuH.mat │ │ ├── szfGpwL68H37QWelFyCYcHD.l │ │ ├── szfGpwL68H37QWelFyCYcHD.mat │ │ ├── szjmPG86lfeA8IVVcMoc7VE.l │ │ ├── szjmPG86lfeA8IVVcMoc7VE.mat │ │ ├── sztKt4KepqEJgCQgpO8PBz.l │ │ └── sztKt4KepqEJgCQgpO8PBz.mat │ ├── _sfprj │ │ ├── EMLReport │ │ │ ├── 5mg5BxSGQSP0nkuUG16e9C.mat │ │ │ ├── emlReportAccessInfo.mat │ │ │ ├── s0thurfGrMfrGQ3y6mENS1F.mat │ │ │ ├── s2p3XhokoONqEHl2iMtQyZF.mat │ │ │ ├── s38YSogy38td3gJRVdgI04E.mat │ │ │ ├── s3oSPtrKdAlTE1tElDDE7tG.mat │ │ │ ├── s4WntoZKIqtBmINXVljGUeG.mat │ │ │ ├── s5NLydSBKRNiZN30RnYGvFG.mat │ │ │ ├── s6k8YnRVt6ORPR8gLlSGVBC.mat │ │ │ ├── s6lgRg4UT79sbd2Y9MEKjTD.mat │ │ │ ├── s8AkSca1qf782qFOg3bubOE.mat │ │ │ ├── s9BdStnqsSQmq05wIrJFKaE.mat │ │ │ ├── s9FH7M7XMLZh5vihdk2xKvF.mat │ │ │ ├── s9IIy2P9FIx4eiBdgLQahNG.mat │ │ │ ├── s9fOGIvNfsHPpjVwscsDaS.mat │ │ │ ├── sA0rAQciBwe5zXix97RkhmF.mat │ │ │ ├── sAavXNNJNFiuCWHSc6cOyJD.mat │ │ │ ├── sBIa8QPcAiWoBDy22nQDZ3.mat │ │ │ ├── sCLJeCZLbnVUExn4LfpRcuE.mat │ │ │ ├── sCY4UoOTg89Th1vdCbBkPAD.mat │ │ │ ├── sCYPUVYjmIKfCGsrwSUkFqC.mat │ │ │ ├── sCjiMMe7aqWN3FyAj91a4tH.mat │ │ │ ├── sCv9hBET8vlgierRW77ja9F.mat │ │ │ ├── sEol60ndjxqMvKLzki4KmbF.mat │ │ │ ├── sFriJTJFS6GIxjbymEzmLcC.mat │ │ │ ├── sGHuXSOeQ9jWJO1F3vZddLH.mat │ │ │ ├── sGMcwKnlJvRZOAqvtdcyHFG.mat │ │ │ ├── sGpAgU6SQfVEsZstRsqQyo.mat │ │ │ ├── sGuzwAMKOZT0gqx5aQwENtH.mat │ │ │ ├── sH1ybNMQr7lTQyPQY5mw8mE.mat │ │ │ ├── sHs8Ppx4qWlRlNxmOVQcv3F.mat │ │ │ ├── sII7SIrGZHOnSxlnWTRMVUH.mat │ │ │ ├── sIID1Z1DZDUfkhXFZlWeJtG.mat │ │ │ ├── sIhIBrNs1t4gMrxWuDWRmHG.mat │ │ │ ├── sIpRheXztQWQfzN53SI7gDH.mat │ │ │ ├── sLHCgM9T1NAsOmOPTKxdHyB.mat │ │ │ ├── sLb9TCyfpctBMiFgoe6FWdG.mat │ │ │ ├── sLcHq3OrC0bkPiItIKTLMuB.mat │ │ │ ├── sMQwqpgtjt6pkJz90MqVGYC.mat │ │ │ ├── sNQ6LNsKYN4bxGal63Az3d.mat │ │ │ ├── sNksHehWsEW8GXzVrx4zTIC.mat │ │ │ ├── sNuFjLJTS6wlzNP6ok0e65D.mat │ │ │ ├── sO1G0f5YGlKnXUhqZ8dEa4.mat │ │ │ ├── sQFGWtANq9XL1YWPHOaxK5C.mat │ │ │ ├── sQdoT41vbrFfMlbfpHp0fCB.mat │ │ │ ├── sR1l491joKkUgcAe5vjB5j.mat │ │ │ ├── sS9uO4n1dfsBoyxcFitaXWD.mat │ │ │ ├── sTktbN37rq9it1UslkEw56.mat │ │ │ ├── sU4dSbRak1jJTLkSXVzexND.mat │ │ │ ├── sUCb9nSlDwaW3adWnOzDYyB.mat │ │ │ ├── sUXUgNZmPxpPiQEcNjPqYlC.mat │ │ │ ├── sUotHTurCtcWLU3VCkNl4SC.mat │ │ │ ├── sV3V2Ls407whT83rlbrEhwB.mat │ │ │ ├── sXLdP9E8ICMnyKOaU8JbamC.mat │ │ │ ├── sXcquWpSMHRHe4vRGOcFtHH.mat │ │ │ ├── sXh0qC5ZTnuvY2OjejB6jgF.mat │ │ │ ├── sZ3VAbYjrjYRjZuVDGoignD.mat │ │ │ ├── sZXli5reJNGpFuoBVmRY1JH.mat │ │ │ ├── sZhKycMykWMtTXCFfUBpSZB.mat │ │ │ ├── sa47sm4Di9esBdoACm34xHH.mat │ │ │ ├── sb2akYdpboOJNpbW0dod0JF.mat │ │ │ ├── sbD8DEpHGPXw359M7eX9PlF.mat │ │ │ ├── sbZWMBx7X2eSEpwkaKfrkVB.mat │ │ │ ├── sbguH2PDbNlYv7MxXsNUpyG.mat │ │ │ ├── sc1d5c50pdYlVATwNBh2wDC.mat │ │ │ ├── scSFdvLU2DnVoiyWA1IUhf.mat │ │ │ ├── scTzkwVMJG15AMbM8nerJLD.mat │ │ │ ├── scyIbzdYxmsLxB0pFH10rvG.mat │ │ │ ├── sd3cSvgZXUvQiqNCAlafBqG.mat │ │ │ ├── sdPbxwooq9QS0IgKEJDV3nF.mat │ │ │ ├── sdev5vaDbhvdVe1YnMDYpvH.mat │ │ │ ├── seHcD1xdyJbP2MJ93sCNSEG.mat │ │ │ ├── seP8ibxe0qASekSMTKJ0wcG.mat │ │ │ ├── sgHBJOe8JmyfAdVaSe8qyTF.mat │ │ │ ├── sgNgt3n4LnrEZqnq7C11jaF.mat │ │ │ ├── shjYuNvHeu7pTx4stef8FRG.mat │ │ │ ├── siOqe4v15nIfL9DxEPbLjW.mat │ │ │ ├── siaxFtdlHzNdeIBvCKNRXoE.mat │ │ │ ├── sicLq95VzpOvSujqjECw7EF.mat │ │ │ ├── sjwjpGSqAFSPmiSfXIhU5SC.mat │ │ │ ├── skI3n0cbQiSKYhpSFcTTTyD.mat │ │ │ ├── skOfcUIaxrlkRWjohKg1ruD.mat │ │ │ ├── slQPAUfapQku7HpgGj4qoYH.mat │ │ │ ├── smgeejOTHWLb6gkMtOlrVRH.mat │ │ │ ├── smxu2pRzi7L7ZmIJcQPaAqG.mat │ │ │ ├── snRSDAX9zdwcEaz5vqMTQEH.mat │ │ │ ├── soLAhhNGY5vEYni4umdZS1G.mat │ │ │ ├── soheAfQI0xitDxGB0XWK1L.mat │ │ │ ├── sot4yTZibhJJcQ8sBnrJEvB.mat │ │ │ ├── sq1V0jeatRT5WdUSwzTOpcF.mat │ │ │ ├── sqq9CurppfehS8F0sfivMUH.mat │ │ │ ├── ssPoFTVOuZGkIDcwMeAMcoC.mat │ │ │ ├── ssSl5QGFws3IK8pcpsYl32.mat │ │ │ ├── ssgEOoYHSMKF1BEQVB5ffpC.mat │ │ │ ├── ssn79colmvyJex9do9VN4qB.mat │ │ │ ├── ssvAyf8Vks6fZhrhqcBYgn.mat │ │ │ ├── st0L97B42w5cIVMXYGRwSVC.mat │ │ │ ├── st7jVcHoFZmIbJKjRftIljG.mat │ │ │ ├── stCpxlT5jLGVqyO2KABafaH.mat │ │ │ ├── suVS7yhibhhhgn9ckqLKYZD.mat │ │ │ ├── svAlryAglViL2MG5CGnlz.mat │ │ │ ├── svLUnFcDJTv0b7TmkT599RE.mat │ │ │ ├── svhZ3LXVmeW6sVCbxrC7ys.mat │ │ │ ├── swLyCwnL9ooiALZSDcGwWl.mat │ │ │ ├── swMsqd7nIBfP7tUAoQ8Z4E.mat │ │ │ ├── sxQgJD8dd5hMpMlZfDpQeeH.mat │ │ │ ├── sxZ2GOicQzVloj9An9qjATG.mat │ │ │ ├── sxbIVt0OQoR2rH2Duz7IKJB.mat │ │ │ ├── sxwd4PhLnzIw7qDf2FiQO2E.mat │ │ │ ├── sy0BWic3RTTWzfa7AeegjTE.mat │ │ │ ├── symELb4CsQIu5e2uRYjsJ8C.mat │ │ │ ├── szLXEfIb4R1dt3pwZhZbAuH.mat │ │ │ ├── szfGpwL68H37QWelFyCYcHD.mat │ │ │ ├── szjmPG86lfeA8IVVcMoc7VE.mat │ │ │ ├── sztKt4KepqEJgCQgpO8PBz.mat │ │ │ ├── xLdsUtCwgwWvMtnRRKgz3B.mat │ │ │ ├── yVB2ksn8axNSmHkHfgSstF.mat │ │ │ └── yVB2ksn8axNSmHkHfgSstF │ │ │ │ └── report.mldatx │ │ ├── precompile │ │ │ ├── 01RVWXXnAZhCPjKvMoqYRB.mat │ │ │ ├── 0anMQpBnVtUowP3Jz2bLn.mat │ │ │ ├── 13m79uZxJwKNO3535UKyMD.mat │ │ │ ├── 1GKaxfNhYS3GuUyO4o3OcC.mat │ │ │ ├── 1JUrmmgCkojPIq3zW1yjUF.mat │ │ │ ├── 1TPgYVNo9lD2cNMQGk2k0B.mat │ │ │ ├── 1fvZJRqhQOGizv7lT7gPEH.mat │ │ │ ├── 1mRbcUM6DmbAUACFPODd4F.mat │ │ │ ├── 1rgOPobtXvE2jDnLwKpe2B.mat │ │ │ ├── 2I1qAEjlgd0jL1kqaiHLHF.mat │ │ │ ├── 2SiXNfDVhaW7YHUc95qC9E.mat │ │ │ ├── 2YvLM4f3AJIMAlzFWVHoVB.mat │ │ │ ├── 35nMCxSwXlqj1dttb1W47E.mat │ │ │ ├── 3OOeYOLXrh3zfpB2Ych5xC.mat │ │ │ ├── 4QZUzPH3Tiw4lM2KGZy5mB.mat │ │ │ ├── 5aUoyRcTKHyzua8ol1KeBB.mat │ │ │ ├── 66vqkUHuVOd15hY5tf5efF.mat │ │ │ ├── 7E5MG8gOKHOGIo67CKVRjE.mat │ │ │ ├── 7Z8txPUkQXqWXJEQut7XFF.mat │ │ │ ├── 8A32SR2yRX6BCgqJKS6goF.mat │ │ │ ├── AJv6BzraUjYQbZ35tbwGoG.mat │ │ │ ├── ARlLmwhh7MF2Ujct87TchB.mat │ │ │ ├── BP0poNAnNrIPudMWmQTx5D.mat │ │ │ ├── C1d2YNszsrUEZ8dTuTfWjE.mat │ │ │ ├── COkP6bmGHNFVgmyXcHJZNG.mat │ │ │ ├── DregXLvbjLbRikoccsLLgG.mat │ │ │ ├── Dx2jwpvpIrlrpJPWW4frD.mat │ │ │ ├── ES3HLqIJy2OA07ix8G25sF.mat │ │ │ ├── ExzGa0uWYaiNnoOG9QwHBC.mat │ │ │ ├── FqfrY04TlYiYKlTRoYZdBH.mat │ │ │ ├── GODUGsRenSvIgdpRIw5l7C.mat │ │ │ ├── GSiOGYVkjINK7UlwCyeVED.mat │ │ │ ├── Gnmv9jYKGfFbIwZlOOYFHG.mat │ │ │ ├── HPc2G8m0xTN4iK0xJwCqMH.mat │ │ │ ├── J5pxpO51TE2jdCnnNvFXa.mat │ │ │ ├── JC8wxtPnMXQ5QpnpFKsJ5.mat │ │ │ ├── Jf62cALiLtWVx8toZRs0TC.mat │ │ │ ├── K5NwdY3uHKaMQYH4NxagxG.mat │ │ │ ├── L8LgrJSbqPqDogyKzlgmuB.mat │ │ │ ├── LWrZbCWcrO8wDiClauSGDF.mat │ │ │ ├── MDI3H4evG3PjkGec5qq0vG.mat │ │ │ ├── NeY17SAkv96O88PZcI8AwE.mat │ │ │ ├── OBchaHZZkLxY6Lhy4dTDeH.mat │ │ │ ├── OJyKbeTx6M87EBrqn1ojCD.mat │ │ │ ├── OR6EjRpb2iEd5SL7eobaiG.mat │ │ │ ├── Okg4DmgoUvdu6zcACCgQpG.mat │ │ │ ├── PnRL1qCehkizPmYD75VrnF.mat │ │ │ ├── PqXf4NpPyRe0XD2ms7IJf.mat │ │ │ ├── QLZK9ifIbijld8m26SmtoB.mat │ │ │ ├── RqsuKDXZeEErXRsOV1DaEC.mat │ │ │ ├── SQuRxJoQOAfycT5ZKtACOD.mat │ │ │ ├── Si6jMgKXgyiUs8wdHDrVlC.mat │ │ │ ├── TNyQ60UFUMg16JYgu6VQrB.mat │ │ │ ├── TYsJ86Y3k86KvrbWxhapvF.mat │ │ │ ├── VIrvHctKhiKIOs2lZUDlc.mat │ │ │ ├── VKvLcNgh2NIzoSUi9PEDIC.mat │ │ │ ├── Vg0PDy8SCGC3eM0SEeCGi.mat │ │ │ ├── W7GobT7WOYsS0OXAYLba9B.mat │ │ │ ├── WAecfsoIkocKm7VllDiqSC.mat │ │ │ ├── WN56Zte2iOhARdb57bIhmE.mat │ │ │ ├── WZDJvdK2tWzlQNVIeFBXAH.mat │ │ │ ├── X8Kno0XiW0pif2gVCZWxh.mat │ │ │ ├── XkSaLH4f9GGWO3Tth6df4D.mat │ │ │ ├── XlTV9SRN1Icax1M2YRsyQB.mat │ │ │ ├── YRvWM6E7Xur2eyUngzsuBC.mat │ │ │ ├── ahIQ4B2rW7xxw3jjkeRNEC.mat │ │ │ ├── autoInferAccessInfo.mat │ │ │ ├── b7F5WvkRKXmFTbbPtVu5mF.mat │ │ │ ├── bN50v4b3HHxWikOqEqsBmB.mat │ │ │ ├── cQnvIEmSCXrdz9Ae4eOiiE.mat │ │ │ ├── cSFyhv5Jly20959yDXGPPD.mat │ │ │ ├── dwOR1oUm0ImtcUcQfWTpfH.mat │ │ │ ├── ePRhbbY2VtewVqSzVajaMC.mat │ │ │ ├── eRz2vSWVvx71SEOMY6ocNB.mat │ │ │ ├── ffp2T8iMWZMKbGDuC4h9jG.mat │ │ │ ├── ghWGV7ygaakSU4qdvqAHeH.mat │ │ │ ├── grUMJ6dFtV22UP3muWqaNG.mat │ │ │ ├── gtKbyuC18DBX9ji0J09cTD.mat │ │ │ ├── ha6tEcCv0F7PzArHaijP1E.mat │ │ │ ├── iAKdS3quZZA0UVcvPBR0AG.mat │ │ │ ├── iGZS1aWONFVjPoGgFw3VzG.mat │ │ │ ├── iRgpYhrP1qzDuyXpLVr3KG.mat │ │ │ ├── iimVbkPdcUcLEssemFmiyD.mat │ │ │ ├── ilo0GAGjysGeRfDP8vhumB.mat │ │ │ ├── jCeb9j3fzoocOtKVz7ppbC.mat │ │ │ ├── jIKeVni7PwtEvR0YRQChM.mat │ │ │ ├── kGzzjGoq6LxqpNfHG1RmgB.mat │ │ │ ├── kHcNFdgWfeQFBuPe3349HC.mat │ │ │ ├── kMSNRiWu4YFmCtXAmZJlUC.mat │ │ │ ├── klyD9AVMx5bzPhrM2HAoRE.mat │ │ │ ├── kypUmU25DY8vzwEW5HSbVG.mat │ │ │ ├── lEYY0SjalV9p3eS9dtho4D.mat │ │ │ ├── lGBKuhhZDg2MwX9xeWbCkD.mat │ │ │ ├── mbx418nxGIihdRvkkjV0f.mat │ │ │ ├── n8pAkwm2w5IocYX4EkAtoH.mat │ │ │ ├── oOhMbMgvYn611cjHTVl6EH.mat │ │ │ ├── ouovIvhbRSX0l0iy3xgUBF.mat │ │ │ ├── pJU1aBz6W2qE1n8wZMtHD.mat │ │ │ ├── pkqd2y0BjXjKMH5IJifumE.mat │ │ │ ├── r75Ug4ieYjYi80J45dkIYG.mat │ │ │ ├── tA3yZJv011UR1BpdxrCrkF.mat │ │ │ ├── tBzkVmdgXU7tcyIDOh25k.mat │ │ │ ├── tCChyNJcNVlLVnyDQDgeDG.mat │ │ │ ├── tY6siaH2d4F0wbxCaavB6G.mat │ │ │ ├── uW5FWG1x1TWevYDUF5GE4C.mat │ │ │ ├── wB6lI46GkwI4xMQgScip8E.mat │ │ │ ├── wz5A0jTYsnPrGz8ZDTAR7.mat │ │ │ ├── xwEMl9HkelIIHaTg7DZJyB.mat │ │ │ ├── y1iwe9Aj3Ok3dO31QFXR6E.mat │ │ │ ├── yOYfWPPBGtqYIbkO6IVfFC.mat │ │ │ ├── yeSdB9xTgKENoJZPadGqKG.mat │ │ │ ├── ytHbLoSTtCLnHzF4sZEMLE.mat │ │ │ └── zQV3m5qgiMoe2D3LoQbKEE.mat │ │ ├── ur5_v1 │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ ├── ur5_v2 │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ ├── ur5_v3 │ │ │ └── _self │ │ │ │ └── sfun │ │ │ │ └── info │ │ │ │ └── binfo.mat │ │ └── ur5_v5 │ │ │ └── _self │ │ │ └── sfun │ │ │ └── info │ │ │ └── binfo.mat │ ├── modeladvisor │ │ └── UpgradeAdv_ │ │ │ └── ur5_v5 │ │ │ └── ModelAdvisorData │ ├── sim │ │ └── varcache │ │ │ ├── ur5_v1 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ │ │ ├── ur5_v2 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ │ │ ├── ur5_v3 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ │ │ └── ur5_v5 │ │ │ ├── checksumOfCache.mat │ │ │ ├── tmwinternal │ │ │ └── simulink_cache.xml │ │ │ └── varInfo.mat │ └── sl_proj.tmw ├── ur5_v5.slx ├── ur5_v5.slx.r2018a └── ur5_v5.slxc └── urdf ├── common.gazebo.xacro ├── ur.gazebo.xacro ├── ur.transmission.xacro ├── ur10.urdf.xacro ├── ur10_joint_limited_robot.urdf.xacro ├── ur10_robot.urdf.xacro ├── ur3.urdf.xacro ├── ur3_joint_limited_robot.urdf.xacro ├── ur3_robot.urdf.xacro ├── ur5.slx.autosave ├── ur5.urdf ├── ur5.urdf.xacro ├── ur51.slx.autosave ├── ur5_joint_limited_robot.urdf.xacro └── ur5_robot.urdf.xacro /Control_project_Report.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gokul-gokz/Trajectory_tracking_controllers_UR5/HEAD/Control_project_Report.pdf -------------------------------------------------------------------------------- /PresentationSlides.pptx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/gokul-gokz/Trajectory_tracking_controllers_UR5/HEAD/PresentationSlides.pptx 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