Inverse dynamics with recursive Newton-Euler of an open kinematic chain described with standard DH-parameters
Optional:
Robot toolbox is used for comparison: http://www.petercorke.com/RTB/
Download and extract the files. Add the path to MATLAB using 'pathtool' command. Then type 'startup_rvc' in MATLAB command prompt.
Limitations:
- No external force/torque (coming soon ;-) )