For expressing the dynamic model of kuka youbot robotic arm in
Mq_dd+Cq_d+N=T
M: Inertia Matrix
C: Coriolis Matrix
N: Gravity Matrix
T: Torque
forwardkin.m is used for finding end effector position from joint angle
getC is to get Coriolis matrix given q,q_d
getM is to get Inetia matrix given q
getN is to get Gravity matrix given q
To run the simulation, run main.m
40 and 41 lines call Inverse Dynamics and Passivity control (you can comment or uncomment them)