A comprehensive numerical sizing script in MATLAB for motor, gearbox (and spring) for stiff or series elactic actuators. (SEA)

This is a controller design and simulation that attempts to control the force of a spring in a spring mass and actuator model. The overall system consists of two models that are cascaded together. The first model is a voltage controlled linear actuator and the second is a spring mass system with a mass connected to a fixed object by a spring. Th…

Matlab Toolbox to control ROBOTIS Dynamixel smart servo actuators with the OpenCM9.04 microcontroller