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2r-manipulator-force-control

This is a MATLAB simulation for force control of a 2R manipulator using feedback linearization.

7dof_robot

7自由度机械臂仿真-空间站抓取悬浮物体；内容涉及正运动学，D-H 建模，逆运动学数值解，只有位置约束的数值解法，路径规划，RRT,广义三次多项式轨迹规划等等。

affga-net

by 王德鑫

afismc

a new observer-based adaptive fuzzy integral sliding mode controller (AFISMC) is proposed based on the Lyapunov stability theorem. The plant under study is subjected to a square-integrable disturbance and is assumed to have mismatch uncertainties both in state- and input-matrices. In addition, a norm-bounded time varying term is introduced to address the possible existence of un-modelled/nonlinear dynamics. Based on the classical sliding mode controller (SMC), the equivalent control effort is obtained to satisfy the sufficient requirement of SMC and then the control law is modified to guarantee the reachability of the system trajectory to the sliding manifold. The sliding surface is compensated based on the observed states in the form of linear matrix inequality (LMI). In order to relax the norm-bounded constrains on the control law and solve the chattering problem of SMC, a fuzzy logic (FL) inference mechanism is combined with the controller. An adaptive law is then introduced to tune the parameters of the fuzzy system on-line. Finally, by aiming at evaluating the validity of the controller and the robust performance of the closed-loop system, the proposed regulator is implemented on a real-time mechanical vibrating system.

arm-continuous-control

Arm which can move to target locations using Proximal Policy Optimization

asiafnet

Adaptive Short-Temporal Induced Aware Fusion Network for Driver Attention Prediction by 王德鑫

bullet3

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

catgrasp

[ICRA 2022] CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

clutter-grasp-dataset

by 王德鑫

codeparkshare

Python初学者（零基础学习Python、Python入门）书籍、视频、资料、社区推荐

compliant-control-and-application

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).

controlling_the_kinova7dof

Exercise 1 of the Robotics control course at University of Pisa

cosmic-mega-project

python入门第一个程序

coursera-ml-andrewng-notes

吴恩达老师的机器学习课程个人笔记

decmk-ftc-copter

FTC, quadcopter, adaptive integral sliding mode control, position tracking, python

deep-learning-for-image-processing

deep learning for image processing including classification and object-detection etc.

detection-pytorch-notebook

代码 -《深度学习之PyTorch物体检测实战》-大牛 董洪义

do-mpc

Model predictive control python toolbox

dobot-m1

dobot M1

dynamics-and-control

Dynamics, MPC, LQR, etc. One repo to rule them all.

er-16-simulation

flappybird

A Flappy Bird Clone using python-pygame

franka-emika-panda-matlab-simulation

MATLAB simulation of franka emika panda robot control using Runge-Kutta.

franka-emika-panda-python-simulation

python and c++(dll) simulation of franka emika panda robot control using Runge-Kutta.

franka_analytical_ik

A fast analytical IK solver for Franka Emika Panda

franka_emika_panda_pybullet

PyBullet Simulation of the Franka Emika Panda 7-DOF Robot, providing movement simulation, inverse dynamics calculation and gravity compensation.

ga-aided-nmpc-tuning

Nonlinear Model Predictive Control tuning using Genetic Algorithms, employed on a trajectory controller for differential drive robot

gaussian-process-based-model-predictive-control

Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart

gaussian_mpc

gaussian_process

gaussian process (with mpc)