Hi. I have calculated UR10 dynamic in MATLAB and C,G and D matrix of Euler-Lagrange equation in symbolic form. but I don't know how can I verify the results? that C,G and D are correct? I simulated the dynamic too and defined 6 Theta and their derivative as input of function to get taws but there is an error related to C matrix. error and simulation block photos are attached.

More Najmeh Eskandari's questions See All
Similar questions and discussions