├── .gitignore ├── FunFric0.m ├── FunFriction.m ├── FunNoise.m ├── FunSat.m ├── README.md ├── SixDOF_FricPlot.m ├── SixDOF_PlotResults.m ├── SixDOF_PlotResults_acc.m ├── SixDOF_PlotResults_ctrl_input.m ├── SixDOF_PlotResults_dtctCmp.m ├── SixDOF_PlotResults_fricTorq.m ├── SixDOF_PlotResults_pos.m ├── SixDOF_PlotResults_vel.m ├── SixDOF_TrajSim1.m ├── SixDOF_runsim.m ├── SixDOF_simulation.m ├── SixDOF_simulation_validation.m ├── discrete_ctrl.m ├── dynamics_derivation ├── SixDOF_FunGeneration.m ├── SixDOF_dynamics_NewtonEuler.m ├── SixDOF_dynamics_Toolbox.m ├── SixDOF_dynamics_simplified.m └── SixDOF_symbolics.m ├── identification_datagen ├── Data_Gen.m ├── FricData.mat ├── FricData_omega_only.mat ├── FricData_temp+omega.mat └── test.m ├── numerical_validation ├── Validation_fun_friction.m └── numerical_validation.m ├── odeRK4.m ├── signum.m └── visualization_tools ├── arrow3d.m ├── arrowPlot.m ├── export_fig ├── .gitignore ├── ImageSelection.class ├── ImageSelection.java ├── LICENSE ├── README.md ├── append_pdfs.m ├── copyfig.m ├── crop_borders.m ├── eps2pdf.m ├── export_fig.m ├── fix_lines.m ├── ghostscript.m ├── im2gif.m ├── isolate_axes.m ├── pdf2eps.m ├── pdftops.m ├── print2array.m ├── print2eps.m ├── read_write_entire_textfile.m ├── user_string.m └── using_hg2.m ├── license.txt ├── magnify.m ├── rotatedata.m ├── tightPlots.m ├── tight_subplot.m └── tightfig.m /.gitignore: -------------------------------------------------------------------------------- 1 | backup/ 2 | *.mat 3 | -------------------------------------------------------------------------------- /FunFric0.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/FunFric0.m -------------------------------------------------------------------------------- /FunFriction.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/FunFriction.m -------------------------------------------------------------------------------- /FunNoise.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/FunNoise.m -------------------------------------------------------------------------------- /FunSat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/FunSat.m -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/README.md -------------------------------------------------------------------------------- /SixDOF_FricPlot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_FricPlot.m -------------------------------------------------------------------------------- /SixDOF_PlotResults.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_acc.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_acc.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_ctrl_input.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_ctrl_input.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_dtctCmp.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_dtctCmp.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_fricTorq.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_fricTorq.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_pos.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_pos.m -------------------------------------------------------------------------------- /SixDOF_PlotResults_vel.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_PlotResults_vel.m -------------------------------------------------------------------------------- /SixDOF_TrajSim1.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_TrajSim1.m -------------------------------------------------------------------------------- /SixDOF_runsim.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_runsim.m -------------------------------------------------------------------------------- /SixDOF_simulation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_simulation.m -------------------------------------------------------------------------------- /SixDOF_simulation_validation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/SixDOF_simulation_validation.m -------------------------------------------------------------------------------- /discrete_ctrl.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/discrete_ctrl.m -------------------------------------------------------------------------------- /dynamics_derivation/SixDOF_FunGeneration.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/dynamics_derivation/SixDOF_FunGeneration.m -------------------------------------------------------------------------------- /dynamics_derivation/SixDOF_dynamics_NewtonEuler.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/dynamics_derivation/SixDOF_dynamics_NewtonEuler.m -------------------------------------------------------------------------------- /dynamics_derivation/SixDOF_dynamics_Toolbox.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/dynamics_derivation/SixDOF_dynamics_Toolbox.m -------------------------------------------------------------------------------- /dynamics_derivation/SixDOF_dynamics_simplified.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/dynamics_derivation/SixDOF_dynamics_simplified.m -------------------------------------------------------------------------------- /dynamics_derivation/SixDOF_symbolics.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/dynamics_derivation/SixDOF_symbolics.m -------------------------------------------------------------------------------- /identification_datagen/Data_Gen.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/identification_datagen/Data_Gen.m -------------------------------------------------------------------------------- /identification_datagen/FricData.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/identification_datagen/FricData.mat -------------------------------------------------------------------------------- /identification_datagen/FricData_omega_only.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/identification_datagen/FricData_omega_only.mat -------------------------------------------------------------------------------- /identification_datagen/FricData_temp+omega.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/identification_datagen/FricData_temp+omega.mat -------------------------------------------------------------------------------- /identification_datagen/test.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/identification_datagen/test.m -------------------------------------------------------------------------------- /numerical_validation/Validation_fun_friction.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/numerical_validation/Validation_fun_friction.m -------------------------------------------------------------------------------- /numerical_validation/numerical_validation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/numerical_validation/numerical_validation.m -------------------------------------------------------------------------------- /odeRK4.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/odeRK4.m -------------------------------------------------------------------------------- /signum.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/signum.m -------------------------------------------------------------------------------- /visualization_tools/arrow3d.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/arrow3d.m -------------------------------------------------------------------------------- /visualization_tools/arrowPlot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/arrowPlot.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/.gitignore -------------------------------------------------------------------------------- /visualization_tools/export_fig/ImageSelection.class: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/ImageSelection.class -------------------------------------------------------------------------------- /visualization_tools/export_fig/ImageSelection.java: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/ImageSelection.java -------------------------------------------------------------------------------- /visualization_tools/export_fig/LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/LICENSE -------------------------------------------------------------------------------- /visualization_tools/export_fig/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/README.md -------------------------------------------------------------------------------- /visualization_tools/export_fig/append_pdfs.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/append_pdfs.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/copyfig.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/copyfig.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/crop_borders.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/crop_borders.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/eps2pdf.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/eps2pdf.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/export_fig.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/export_fig.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/fix_lines.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/fix_lines.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/ghostscript.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/ghostscript.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/im2gif.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/im2gif.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/isolate_axes.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/isolate_axes.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/pdf2eps.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/pdf2eps.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/pdftops.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/pdftops.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/print2array.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/print2array.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/print2eps.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/print2eps.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/read_write_entire_textfile.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/read_write_entire_textfile.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/user_string.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/user_string.m -------------------------------------------------------------------------------- /visualization_tools/export_fig/using_hg2.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/export_fig/using_hg2.m -------------------------------------------------------------------------------- /visualization_tools/license.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/license.txt -------------------------------------------------------------------------------- /visualization_tools/magnify.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/magnify.m -------------------------------------------------------------------------------- /visualization_tools/rotatedata.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/rotatedata.m -------------------------------------------------------------------------------- /visualization_tools/tightPlots.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/tightPlots.m -------------------------------------------------------------------------------- /visualization_tools/tight_subplot.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/tight_subplot.m -------------------------------------------------------------------------------- /visualization_tools/tightfig.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/qiyan98/Manipulator-dynamics/HEAD/visualization_tools/tightfig.m --------------------------------------------------------------------------------