The Diamond Robot is a specialized parallel robot designed for applications where precise control of the end-effector orientation is crucial.
In the DiamondRobot.m file you can find the robot modelization, planning and control using several techniques:
- Computed Torque
- Adaptive Computed Torque
- Backstepping
- Adaptive Backstepping
- Trace Control
The file ScrewCalculusPro.m contains a library used to obtain the robot kinematic and dynamic equations.
The robotics dynamic equations have been obtained through the Denavit-Hartenberg robot parameterization.
The aim is to make the end-effector following this trajectory:
This is a simulation of the control obtained using Adaptive Backstepping:
