A comprehensive MATLAB/Simulink framework for controlling the Kinova Gen3 7-DOF robotic manipulator using various advanced control algorithms. All robot dynamics are computed using the ManiDyn toolbox, ensuring accurate and efficient dynamic modeling.
- ManiDyn toolbox (GitHub link) - Core dependency for robot dynamics computation
- Simscape Multibody
- Robotics Toolbox
- Symbolic Math Toolbox
- MATLAB R2021a or newer
- URDF Files: Complete Kinova Gen3 robot description files
- Simscape Template: Ready-to-use Simulink model with Simscape Multibody integration
- Robot Data Package: Comprehensive robot specifications and parameters
All robot dynamics are computed using the ManiDyn toolbox, providing:
- Forward Kinematics: MEX-compiled functions for fast FK computation
- Jacobian Matrices: Efficient Jacobian calculation functions
- Dynamics: Complete dynamic model with Mass Matrix, Coriolis Matrix, and gravity terms along with the system ODE Function ready for simulation
The repository implements the following control algorithms:
- PD + Gravity Compensation
- PID Control
- Feedback Linearization + PD
- Inverse Dynamics Control
- Sliding Mode Control
- Robust Inverse Dynamics Control
- CreateRobot.m: Automated robot model generation script using ManiDyn
- MEX Functions: High-performance compiled functions for real-time control
- Design Scripts: Parameter tuning and analysis tools for each controller
- Install all required MATLAB toolboxes
- Clone the ManiDyn toolbox repository
- Run
utils/CreateRobot.mto generate robot models using ManiDyn and Robotics Toolbox - Open the desired control algorithm folder
- Follow the README in each control folder for specific implementation details
This repository serves as a comprehensive reference for advanced robotic control algorithms. Contributions for additional control methods, improvements, or documentation are welcome.
This project is licensed under the MIT License - see the LICENSE file for details.