pd_plus_gravity_control

This repository contains the code for simulation of pd+gravity control with KUKA iiwa14 in MATLAB and CoppeliaSim(Vrep).

Prerequisites

• MATLAB (later than r2020a)
• Coppeliasim edu v4.4.0 (The latest version as of the time of writing this example. October 2020. ）The remApi.m, remoteApiProto.m and remoteApi.dll in folder libs are copied from CoppeliaRobotics\CoppeliaSimEdu\programming\legacyRemoteApi\remoteApiBindings\matlab\matlab and CoppeliaRobotics\CoppeliaSimEdu\programming\legacyRemoteApi\remoteApiBindings\lib\lib\Windows)

Usage

• Run pd_plus_gravity.m in MATLAB first, then pd_plus_gravity.ttt in CoppeliaSim. There may be a warning appeared in CoppeliaSim, just ignore it.

• If you want to stop the simulation, just stop the simulation in CoppeliaSim, after that the MATLAB part will automatically stop, followed by a figure.

• In hw3_3, the coriolis matrix can be obtained through function coriolis_kuka/autogen/C_mtrx_fcn.m. To understand how this code is generated, check coriolis_kuka/main.m.