Planar 3R Manipulator Dashboard

Interactive robotics sandbox. Switch between polynomial tracking and numerical Inverse Kinematics.

Active Mode

Polynomial Trajectory

Cartesian HUD

Target X:

0.873

Actual X:

0.900

Target Y:

0.100

Actual Y:

0.000

t = 0.00s

Director Seat

PD Gain Matrix

Proportional ($K_p$)40

Stiffness of the joint motors

Derivative ($K_d$)10

Damping to prevent oscillation

Under The Hood

Dynamics: Tracking Control Law

\ddot{\mathbf{q}} = \mathbf{K}_p (\mathbf{q}_d(t) - \mathbf{q}) + \mathbf{K}_d (\dot{\mathbf{q}}_d(t) - \dot{\mathbf{q}})

Evaluating continuous non-linear equations of motion driven by numerical ODE steps.