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Code Listing by Abdel-Razzak

Code 1-4 of 4   






A MATLAB Program that uses a webcam to watch three different robots. It gets their positions online so it is possible to draw their paths and their inter-agent distances.

The robots have three different color labels. This program uses the RGB properties to detect the labels to find them. I used the code: Color Threshold written by Mr. Aaron to find the RGB properties of the labels offline. Drawings are done offline.

NOTE:...



Three different nonlinear control algorithms are used to control a three degree of freedom PUMA560 robot. These algorithms are:
Computed Torque Control, Sliding Mode and Backstepping Control.

The robot dynamics are taken from:



Fuzzy control algorithm is used to control a three degree of freedom PUMA560 robot.

The robot dynamics are taken from:
Brian Armstrong, Oussama Khatib & Joel Burdick , d-deDUThe Explicit Dynamic Model and Inertial Parameters...



The Dynamics of the robot are taken from:

Brian Armstrong, Oussama Khatib & Joel Burdick , d-deDUThe Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Armd-deDt , Stanford University, Artificial Intelligence Laboratory,...