During the fall of 2020 I completed a project related to robotic manipulators and the common algorithms to control them. I created a simulation enviroment that computes inverse kinematics on a set of arbitrary waypoints, generates a trapezoidal velocity trajectory, and then simulates two common control algorithms using Robotics Systems Toolbox and Simscape Multibody. The two control algorithms in question were a computed torque controller and a PD controller.

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