用户交互式阻抗控制示例，D臂。_user-interactive impedance control example o

# MATLAB Impedance Control for a 2-Link Robot Arm - User-interactive 2-link planar arm with a compliant controller and gravity compensation. The user can click and drag to move the end-effector's target position. Hit a keyboard key to change to "disturbance-mode." This mode instead applies a disturbance force to the end-effector. ## Files MAIN.m -- Run this first! Plotter.m -- Display the arm and integrate the equations in real time deriverRelativeAngles.m -- Derives all dynamics and controls equations. ALL other files -- Auto-written by deriverRelativeAngles.m ## Video https://www.youtube.com/watch?v=cmW7pRLut8A