Simulation of a Three-Joint Robot

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Resource Overview

This program is a simulation of a three-joint robot. It applies nonlinear variable structure control methods to the dynamic control of a three-joint robotic system and implements a variable structure controller. The code includes dynamic modeling, sliding mode control implementation, and real-time simulation capabilities.

Detailed Documentation

This program is designed to simulate the operation of a three-joint robot. We have implemented a nonlinear variable structure control method and applied it to the dynamic control of the robotic system, establishing a robust variable structure controller. The simulation enables users to better understand the dynamic characteristics of three-joint robots and master the control methodology. The implementation includes dynamic equations computation using Euler-Lagrange formulation and sliding mode control with boundary layer techniques to reduce chattering. Additionally, we have incorporated practical features such as a visualization interface for real-time motion tracking and data analysis tools to help users analyze and optimize the performance of the robotic system. We believe this program will serve as a valuable tool in the field of robotics research and development.

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