For the Robotics Controls and Dynamics Course at Washington University, I created a 3 link planar robot in MATLAB, complete with its own physics engine (gravity, friction) while incorporating robot kinematics achieved with transformation matrices and robot dynamics achieved with Simulink, PID controls and control loops.

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I am attempting to port the whole system to python to make it open-source and easier to add other libraries to achieve more. Check the complete 3 link planar robot report linked on the left.