Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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