# CIS2_Admittance_Control
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