Pid control of puma560 robot in matlab

The following Matlab project contains the source code and Matlab examples used for pid control of puma560 robot. The Dynamics of the robot are taken from: Brian Armstrong, Oussama Khatib & Joel Burdick , “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm” , Stanford University, Artificial Intelligence Laboratory, IEEE 1986 Although Uncertainty is not added, adding uncertainty is easy (check the paper).

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
PID_PUMA.m 1048
PID_PUMA_fn.m 5437