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Code Listing by Sumit Tripathi

Code 1-6 of 6   






Forward kinematics:
It is applied through homogeneous transformation matrix, almost in the similar fashion as any CAD software perform rotation and translation of CAD model.
Inverse Kinematics:
It is applies through the use of MATLAB's fmincon and ode45 functions.
Task space control
Applies Jacobian matrix formulation and pseudoinvrse of it.
Task space control is carried out to trace two user defined standard...



The goals of this project are to:
o Used ERA to investigate/estimate model order (degree) and State Space Model
o Compare Power Curves of identified model and Manufactures specifications
o Estimated/predicted output power based on...




Linear difference model.pdf:
Matrices formulation for ARX and ARMAX algorithms.

Oldfaithful.doc:
The problem statement

OldFaithdata.m:
The original data for the eruption of Oldfaithful



It is based on theories and techniques like optimal control, observability, controllability and Lyapunov stability.



This package can be used in robotics, machine control, motion physics, medical science and many more.



The model relies on the theory of strength of least square curve fitting and auto regression techniques.