In this final project, the simulation of the control of a manipulator robot with two degrees of freedom was carried out (the robot model is seen in the following photos. Once it is delivered, it will consist of implementing the control laws that are indicated below: control PS. PD control plus gravity compensation. Check PD+. Control Calculated Torque. For each of these controls, the regulation (position control) must be made for a single point. Finally, trajectory control must be performed with PD control plus gravity compensation to write the following letters e, i, r

to Dinamica del sistemazq qpp=M\( Tau CqpGBqpFf); out = [qp; qpp ]