Two-degree-of-freedom robot based on the gravity compensation control, simulation shows that the more traditional robot PD control, greatly improved the accuracy of the control track

gravity compensation contro\chap2_2adapt.m
...........................\chap2_2ctrl.m
...........................\chap2_2ctrlnew.m
...........................\chap2_2input.m
...........................\chap2_2plant.m
...........................\chap2_2plot.m
...........................\chap2_2sim.mdl
gravity compensation contro

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