This is a three fredom degree robot modeled in simulink which is controled ( 3D position control) by a PID. you set the reference trajectory and the robot controled by the PID follows the trajectory in a good way. In order to run open parametros_luis.m run it ( press f5) and then run the simulink.

ACRMono1
........\Cdir.m
........\CI.m
........\cori.m
........\Dise?o CAD del Robot
........\grafica_seguimiento.m
........\gravedad.m
........\HH.m
........\invHH.m
........\jacInv.m
........\Monografía 1 Luis Ricce.pdf
........\parametros_Luis.m
........\Simul.mdl

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