Matlab Symbolic Planar Arm Dynamics

Gravity compensation for a one link and two link arm.

Symbolic approach to deriving 2D one, and two link planar arm dynamics using the Newton Euler method and Matlab. Helper functions cross2.m and fulldiff.m


Mathematica Symbolic Planar Arm Dynamics

Gravity compensation for a one link and five link arm using Mathematica.

Symbolic approach to deriving 2D one, two, three, four, and five link planar arm dynamics using the Newton Euler method and Mathematica.

C version of above for four link arm.

Optimized version of above for four link arm.


Numeric Newton-Euler for four link arm dynamics.


Symbolic approach to deriving one link and two link arm dynamics in 2D using the Lagrangian method and Mathematica. Compare to this file.


Planar Legged Robot Dynamics

Mathematica Newton Euler derivation of floating body (torso).

Mathematica Newton Euler derivation of floating jointed body (torso and thigh).

C version of above for torso/thigh.
Corresponding .h file.
Corresponding driver.
Sample output.

Mathematica Newton Euler derivation of floating jointed body (torso, thigh, and calf) with ground contact force.

C version of above for torso/thigh/calf.
Corresponding .h file.
Corresponding driver.