A 4 DOF arm based on the Motoman IA20 was built in AutoDesk Inventor. SimMechanics is used to generate a Simulink model. This model generates the dynamics for the robot implicitly, so there is no need to solve the equations of motion by hand. The dynamics are used by an control optimization software: DIDO, available commercially. Sample results are included along with a video and analysis which compares it against the traditional trajectory.
Alan Jennings (2022). Control optimization of a 4DOF arm using DIDO (https://www.mathworks.com/matlabcentral/fileexchange/28596-control-optimization-of-a-4dof-arm-using-dido), MATLAB Central File Exchange. Retrieved .
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