├── AdaptiveControl2DOF.py ├── ComputedTorqueControl2DOF.py ├── GravityCompensation2DOF.py ├── MATLAB ├── AdaptiveControl.slxc ├── AdaptiveControl2DOF.m ├── AdaptiveControl_DCAL.slx ├── AdaptiveControl_DCAL.slxc ├── AdaptiveControl_IRC.slx ├── CTC2DOF.slx ├── CTC2DOF.slxc ├── CTC2DOF_SineWave.slx ├── CTC2DOF_SineWave.slxc ├── ComputedTorqueControl_2DOF.m ├── INV.m ├── INV_2DOF.m ├── INV_2DOF_5thOrder.m ├── INV_2DOF_Path.m ├── JacobianInverse.m ├── SineWaveTest.slx ├── SineWaveTest.slxc ├── TestBlock.slx ├── TestVector.m └── TorqueControlSim.slxc ├── README.md ├── TwoLinkRobotClass.py ├── dynamixel_sdk ├── __init__.py ├── __init__.pyc ├── __pycache__ │ ├── __init__.cpython-36.pyc │ ├── __init__.cpython-37.pyc │ ├── group_bulk_read.cpython-36.pyc │ ├── group_bulk_read.cpython-37.pyc │ ├── group_bulk_write.cpython-36.pyc │ ├── group_bulk_write.cpython-37.pyc │ ├── group_sync_read.cpython-36.pyc │ ├── group_sync_read.cpython-37.pyc │ ├── group_sync_write.cpython-36.pyc │ ├── group_sync_write.cpython-37.pyc │ ├── packet_handler.cpython-36.pyc │ ├── packet_handler.cpython-37.pyc │ ├── port_handler.cpython-36.pyc │ ├── port_handler.cpython-37.pyc │ ├── protocol1_packet_handler.cpython-36.pyc │ ├── protocol1_packet_handler.cpython-37.pyc │ ├── protocol2_packet_handler.cpython-36.pyc │ ├── protocol2_packet_handler.cpython-37.pyc │ ├── robotis_def.cpython-36.pyc │ └── robotis_def.cpython-37.pyc ├── group_bulk_read.py ├── group_bulk_read.pyc ├── group_bulk_write.py ├── group_bulk_write.pyc ├── group_sync_read.py ├── group_sync_read.pyc ├── group_sync_write.py ├── group_sync_write.pyc ├── packet_handler.py ├── packet_handler.pyc ├── port_handler.py ├── port_handler.pyc ├── protocol1_packet_handler.py ├── protocol1_packet_handler.pyc ├── protocol2_packet_handler.py ├── protocol2_packet_handler.pyc ├── robotis_def.py └── robotis_def.pyc └── image ├── blockdiagram.JPG ├── equations.JPG └── setup.JPG /AdaptiveControl2DOF.py: 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