Admittancecontrol.py - a prototype script for the controller using crtk_commands with the real robot
AnyTFStabMap.m - a stability map plotter for any given transfer function
AydinStabMap.m - a stability map plotter for the aydin et al paper functions
Check_stable.m - a sub function for checking if a TF is stable
CostTransMapAnyTF.m - A function that builds the cost transparency map for any transfer function
CostTransMapAydin.m - A function that builds the cost transparency map for aydin et al paper functions
CostTransMapFeedback.m - A function that builds the cost transparency map for the feedback admittance TF
CostTransMapFeedbackForward.m - A function that builds the cost transparency map for the feedback feedforward admittance TF
FeedbackForwardStabMap.m - a stability map plotter for the feedback feedforward admittance TF
FeedbackForwardStabMapNoImped.m - a stability map plotter for the feedback feedforward admittance TF without impedance
FeedbackStabMap.m - a stability map plotter for the feedback admittance TF
FeedbackStabMapNoImped.m - a stability map plotter for the feedback admittance TF without impedance
GalenControlApp.mlapp - A GUI generating tool for using the admittance controller with teleoperation
Generate_chrip.py - a function used to create a discretized chirp trajectory
Impedance_select.m - a function used to select one of the 8 possible worst case impedances
Plant_dynamics_select.m - A function to observe the different possible mass spring damper systems
README.md
StabMapper.m - A funtion that will plot the stability map for a given line of stability with curved polynomial fits
StabMapperNoPoly.m - A funtion that will plot the stability map for a given line of stability with the discretized data, no curve fit
TFAydin.m - the transfer functions from the aydin et al paper
TFFeedback.m - the transfer functions from the feedback controller
TFFeedbackForward.m - the transfer functions from the feedback feedforward controller
Tf2Sym.m - converts a matlab type TF to symbolic
almost_zero_static_gain_tf.m - Checks if a TF is essentially equal to zero
galen_fk.m - The old incorrect forward kinematics for the galen robot
galen_fk2.m - The corrected forward kinematics for the galen robot
galen_interface.m - a matlab class file for estabilishing communication with AMBF over ROS topics and controlling the Galen
galen_jacob.m - The old incorrect jacobian for the galen robot
galen_jacob2.m - The corrected jacobian for the galen robot
get_TF_system.m - given a system grab the desired predefined transfer fucntions
is_equal_tf.m - check if two transfer functions are essentially equal
mag_phase.m - find the magnitude and phase of a transfer function
traj_interp.m - interpolate at any bounded point within a given discretized trajectory