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Sensorless control of an SPMSM using a Sliding Mode Observer to acquire the rotor position
Simulink model of a Field Oriented Control scheme applied to a Permanent Magnet Synchronous Machine
FOC control of a PMSM motor including a Sliding Mode Load Observer (SMO).
Sensorless control of an SPMSM using a second-order Sliding Mode Observer (also called Super-twister) to acquire the rotor position.
Vector control of a two-phase PMSM (aka stepper motor) using a traditional PI control, a deadbeat predictive controller and Finite-Control-Set Model Predictive Control (FCS-MPC)
Stewart Platform Inverse Dynamics MATLAB Code
Stewart platform related code such as kinematics, dynamics and workspace.
Robot models, featherstone Dynamics, WBC optimization
7自由度机械臂仿真-空间站抓取悬浮物体；内容涉及正运动学，D-H 建模，逆运动学数值解，只有位置约束的数值解法，路径规划，RRT,广义三次多项式轨迹规划等等。
Task Priority Control approach for Underwater Vehicle-Manipulator System (UVMS)
针对解决轮式移动机械臂在复杂环境中执行灵巧作业的需求，开展了面向冗余轮式移动机械臂的考虑任务优先级的位形优化研究。首先建立了整机运动学模型，然后基于任务优先级框架开展了面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的位形优化的研究，最后进行了复杂工况仿真，验证了方法的有效性。
In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-DOF robot. The Redundancy Resolution includes three methods,…
Stewart Platform Class repository
This repository illustrates a tetrahedron based approach to determine the singular configurations of motion simulator platforms
QP Solver and use example for `An Adaptive Sliding Mode Control Algorithm for Flexibly Supported Stewart Mechanism`
Stewart Platform control scheme for harmonic disturb rejection
MATLAB codes for Stewart Platform model and simulation
This repository holds a MATLAB coded stewart platform, used to plot leg actuation of simulators.
A toolbox to study Stewart platforms using Matlab/Simscape
Stweart Platform Simulation with Trapezoidal Velocity Trajectory Planner and Local Singularity Avoidance
Stewart Platform Singularities Generation repository
A Stewart platform with 6 rotary actuators (stepper motors) designed in SolidWorks and imported into Matlab Simscape Multibody. The embedded part was done with an Arduino Uno.