This program simulates a PD controller for a two-joint arm robot. The software generates a series of movement commands. This allows you to visually compare the movement resulting from the commands and the PD-controlled movement.
The software window has two parts. The movement resulting from the commands is displayed in the left portion of the window, and the controlled movement is displayed in the right portion. Users can change all working parameters (for example, the mass and length of the arms) and PD controller parameters.
I programmed this simulator in Visual C and OPENGL. I chose OPENGL for the 3D programming because, in 1998, the use of OPENGL in MFC was a hot topic.
Use the following link to download the source code. You are free to use or modify it, royalty free.
Source Code and Binaries (3Mb)
The following screenshot shows what the Two-Joint Arm Robot PD Controller Simulator looks like.