DNRS Assignment-4

Project details: https://github.com/syedjameel/Dynamic-Models-Stanford-Manipulator/blob/de44423261d49169cc829d1952a2c96be5d94286/Home%20task%204_%20Dynamics.pdf

Main Task:

1. Euler-Lagrange Dynamic Model
2. Plot the Torques for Euler-Lagrange
3. Newton-Euler Dynamic Model
4. Plot the Torques for Newton-Euler

Bonus Task

1. Drive the Manipulator using Trapezoidal Profile
2. Drive the Manipulator using Polynomial Profile
3. Plot the Torque graphs for both

Description:

This Assignment consists of multiple files. The helper files are SimpleTranformations.py, StanfordManipulatorKinematics.py, newton_euler.py, trajectory_planning.py and utils.py. And this Assignment is run by a single driver code main.ipynb in the main folder.

Also Note that the Report is included in the main.ipynb file.

Local Setup

• Clone project using command:

https://github.com/syedjameel/Dynamic-Models-Stanford-Manipulator.git

Directory Structure:

Dynamic-models-for-Stanford-Manipulator/
├── Home task 4_ Dynamics.pdf
├── main.ipynb
├── newton_euler.py
├── README.md
├── screenshots
│   ├── euler-lagrange.png
│   ├── newton-euler1.png
│   └── newton-euler2.png
├── SimpleTranformations.py
├── StanfordManipulatorKinematics.py
├── trajectory_planning.py
└── utils.py

How to Run

1. Run the following command to navigate to the directory using:

   cd Dynamic-Models-Stanford-Manipulator/ 

2. Run the following command to install dependent libraries:

   pip3 install -r requirements.txt

3. Finally, Run the main.ipynb file [In Jupyter notebook or colab]