6DOF-Robot-Dynamics

In this repository, dynamic model for 6DOF robot is derived using Euler-Lagrange approach. Inertia matrix, Coriolis matrix, and gravity vector are calculated. The repository is also a solution for Assignment4 in Dynamics of Nonlinear Robotics Systems course for ROCV master's program at Innopolis University.

Task:

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Table of Content

├── src             <- directory for source files 
|    ├── main.m     <- contains MATLAB code for dynamics
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├── Report.pdf 
└── Readme.md