diff --git a/.gitmodules b/.gitmodules
index ab9caec..2403ceb 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "Dynamic-Calibration"]
 	path = Dynamic-Calibration
 	url = http://192.168.1.120:1080/robotics/dynamic-calibration.git
+[submodule "IRDYN"]
+	path = IRDYN
+	url = http://192.168.1.120:1080/robotics/irdyn.git
diff --git a/IRDYN b/IRDYN
new file mode 160000
index 0000000..c734189
--- /dev/null
+++ b/IRDYN
@@ -0,0 +1 @@
+Subproject commit c7341898362ef02abd9f90a701e3c055cec58b7f