C-code generation (2-link, cylindrical)

This notebook assumes that the definitions in "manipulator_defs.nb" have already been evaluated, and allows the user to export robot manipulator dynamic models to C code. It allows the user to define two different dynamic models, one with numeric parameters that correspond to the actual robot, and another with numeric parameters that correspond to an "assumed model." For each dynamic model, two C functions are generated, one that computes the dynamic model as a set of first-order differential equations for Runge Kutta integration, and another that computes the dynamic model in terms of  M(Θ), V(Θ, Overscript[Θ, .]) and G(Θ). All required user inputs can be specified in the Global user definitions.

Global user definitions

Global evaluations

Robot C code

Assumed model C code

Save to disk

Created by Mathematica  (November 17, 2003)