Inverse dynamics of a 2 link rr planar parallel manipulator in matlab

The following Matlab project contains the source code and Matlab examples used for inverse dynamics of a 2 link rr planar parallel manipulator. I have created a function which calculates the 3 main torque components that contribute to the total torque profile of the actuated joints using Lagrangian formulation.

The source code and files included in this project are listed in the project files section, please make sure whether the listed source code meet your needs there.

Project Files: 

File NameSize
EOM.PNG 6601
GUI_RR2_ID.fig 14310
GUI_RR2_ID.m 12954
license.txt 1316
RR2_ID.m 12198