4 DOF Manipulator Lagrange Dynamics Derivation Using MATLAB Toolbox

In this video, we demonstrate how we can use the MATLAB Lagrange toolbox to derive dynamic equations for various systems.
A 4 DOF manipulator was used as an example to demonstrate the functionality of the toolbox in providing a simulation platform for this system.
A feedback linearization and a sliding mode controller were also developed to control this system.
for more examples and information regarding this MATLAB toolbox. Visit:
www.mathworks....

[@naumanahmed2841]

It was really helpful ! More power to you buddy. keep up the good work.

[@17Koche]

Glad this helps you! :)

[@freddu4112]

Thanks! If you could share the link of the code and it is very helpful for me

[@rituranjan2821]

Wow good explanation kindly provide pdf of matlab code for biped robot

[@Blakwyz]

hey. Great video. Thanks. But the last code for feedback linearization is not available in the link. can you share the link to your github if the code is available there?

[@cristianalejandroamayamont204]

How did you factorize to get D,F,G?. Thanks nice video

[@17Koche]

Look up the "collect" function in MATLAB. It allows you to factorize specific variables in some expression. In this case, I factorized u1, u2, u3, and u4. Thus everything that multiplied by u1, u2, u3, and u4 is part of D(x)g(x) and every term that is not is part of f(x). Hopefully, this helps you. Here's the link to that function: www.mathworks.com/help/symbolic/collect.html

[@necunoscut81]

Hi, I run a similar script to yours as I want to get the dynamic response of a 4 DoF robot crane. I execute the script on a 28GB RAM computer, and after a while during the simulation I get the 'out of memory' error as this script takes the full memory space. Did you come across this issue, or do you have any advice for this particular case?

[@17Koche]

One thing that might be causing that is the code trying to do rearangement of your equation syms variables ( in the form y=mx+b and not for example m= (y-b)/x). Read the library, you Will see that there are two parts to the code. 1- the first one does the differentiation in a loop. 2- the second sorts syms variables. If thats the problem, comment out the sorting if variables and do the sorting manually, it will save you lots of computation time. Another tip I can give you is use breakpoints and see where your code stops running. I know matlab cannot handle extremely large matrices so you also need to be careful with that. Hope this helps

[@jayzhou7749]

Is there a git for the simulation code?

[@xinchen5313]

Thanks for the illuminating video,Can I see these code where can I download ?

[@17Koche]

Sure i can upload them on Git. Also, have you looked at the link in the description?

[@xinchen5313]

@@17Koche Yse,there is only a link which relate to mathworks rather than github

[@17Koche]

@@xinchen5313 yes i will upload the github and get back to you here. In the link in the description, there are several matlab examples for various systems, I'd recommand you check them out because my code is almost identical to that

[@vanhai4101]

thanks for your video, you can upload the code to git ?

[@monakhalaf5882]

Thanks! Can you share the code of the 4 DOF manipulator please?

[@17Koche]

Which code. The one to derive the dynamics or the simulation?

[@monakhalaf5882]

​@@17Kocheto derive the simulation please, if it is possible.

[@belkimeriem7706]

it didnt work in 2021 matlab can any 1 help ??

[@林政穎-r2h]

can this work on hexa robot?

[@17Koche]

You should be able to. All you need to do is derive kinetic and potential energy equations first