2-Link Robot Simulation Support
Budget: €8 – €30 EUR
I have already outlined the kinematics, basic dynamics, and the identification approach for a 2-link planar manipulator; however, the simulation layer still needs expert attention. I want the complete behaviour of the robot reproduced in both MATLAB scripts and a Simulink model so that I can run rapid what-if studies, tune controllers, and visualise trajectories with confidence.
Your focus will be to refine any missing dynamics, implement the full nonlinear model, and build a clean, well-documented Simulink environment that mirrors the MATLAB code line-for-line. Once the model is stable, I will also need repeatable simulation scenarios (step, sinusoidal, and user-defined joint inputs) together with meaningful plots—joint positions, velocities, torque profiles, and energy consumption.
To be considered, include a concise yet detailed project proposal that tells me
• how you intend to structure the MATLAB functions and Simulink blocks,
• the numerical solvers and integration steps you find most reliable for this type of multibody system, and
• the validation strategy you will use to show the model behaves as expected.
Acceptance of the work will hinge on:
1. A fully runnable .m and .slx package with no missing dependencies,
2. Clear documentation (in-code comments and a short PDF) explaining model assumptions, parameter values, and how to extend or retune the controller, and
3. Simulation snapshots that reproduce the expected planar motion for at least three test cases.
If your background is strong in robotics dynamics and you enjoy crafting clean MATLAB/Simulink architectures, I look forward to reading your proposal.
Your focus will be to refine any missing dynamics, implement the full nonlinear model, and build a clean, well-documented Simulink environment that mirrors the MATLAB code line-for-line. Once the model is stable, I will also need repeatable simulation scenarios (step, sinusoidal, and user-defined joint inputs) together with meaningful plots—joint positions, velocities, torque profiles, and energy consumption.
To be considered, include a concise yet detailed project proposal that tells me
• how you intend to structure the MATLAB functions and Simulink blocks,
• the numerical solvers and integration steps you find most reliable for this type of multibody system, and
• the validation strategy you will use to show the model behaves as expected.
Acceptance of the work will hinge on:
1. A fully runnable .m and .slx package with no missing dependencies,
2. Clear documentation (in-code comments and a short PDF) explaining model assumptions, parameter values, and how to extend or retune the controller, and
3. Simulation snapshots that reproduce the expected planar motion for at least three test cases.
If your background is strong in robotics dynamics and you enjoy crafting clean MATLAB/Simulink architectures, I look forward to reading your proposal.