Course project: optimal control of a 2 dof manipulator exploiting the DDP algorithm. The robot has to perform some tasks in the workspace.
The main files are Task_1.m and Task_2_3.m, other files are functions used for cost function computation, algorithm initialization and computation of robot dynamics and derivatives up to second order.
Language: Matlab. We used Simulink to obtain the final animation exploiting the robot model.
Team: Lorenzo Balandi, Ludovica Ghinelli, Tommaso Prandin.
All details can be found in the report.
Robot_Model_Task4_speeded_up.mp4
