The MATLAB functions AnticiStep and AnticiStepDisturbance plot the anticipation/lag of the arm's end effector motion with On anticipating synchronisation (AS), which were used to generate the results shown in the manuscript "Anticipationįrom Sensation: Using Anticipating Synchronisation to Stabilise a System with Inherent Sensory Delay".īoth models share a series of constants, which are labelled within the Simulink view, and allow the alteration of the robot'sĭynamics (link lengths and link masses), as well as the parameters of the control law (gains, coordinate transformation, Simulink models and MATLAB functions associated with the manuscript "Anticipation from Sensation: Using Anticipating Synchronisation to Stabilise a System with Inherent Sensory Delay"Ĭontains two Simulink models that implement a simulation of a robot arm, along with control laws based
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