How to compute the C matrix dynamics

[awkar]

Nice work! I don't know how to get the matrix C, and you said "This function was generated by the Symbolic Math Toolbox version 7.1." in file C_Matrix_vars. Can you give me more details? Thank you.

[sandeshthapa]

If you read any robot dynamics and control paper or book carefully, they should provide you complete equation to compute the inertia matrix M, once you get the M, you can compute the C matrix from partial derivative, check the following:

Robotics: Modelling, Planning and Control
by Bruno Siciliano and Lorenzo Sciavicco and Luigi Villani

http://www-clmc.usc.edu/~cs545/CS545_Lecture_10.pdf

https://github.com/yangmingustb/planning_books_1/blob/master/Siciliano%20-%202009%20-%20Robotics%20modelling%2C%20planning%20and%20control.pdf

[awkar]

Thank you for your replay.
I don't know how to get this function by Symbolic Math Toolbox.
C_Matrix_vars.m

But I found this MATLAB method when I read your code: matlabFunction
C_matrix_dynamics.m
Line 167

The book you mentioned is really helpful, and it is what I'm reading. Anyway, Your work has been very helpful to me.

[sandeshthapa]

Line 167 in
https://github.com/sandeshthapa/Adaptive_Sliding_Mode_Control_of_Aerial_Manipulator/blob/master/C_matrix_dynamics.m
gives you that function you need which is : C_Matrix_vars.m

Try that and let me know if it works.

[sandeshthapa]

You can also read about matlab function, how it is used to create embedded functions.
https://www.mathworks.com/help/symbolic/matlabfunction.html

[sandeshthapa]

[email protected] check this please.