This submission includes the files used in the webinar delivered March 1st, 2007, and titled "Optimizing Motion Control Systems Featuring a Four-Bar Linkage".
It demonstrates the use of Inverse-Dynamics implemented through the tool SimMechanics. The ability to anticipate actuator torque requirements through this method offers a significant improvement in the success of the system. Pure PID feedback leads to maximum errors 50 times greater than the method employing inverse dynamics.
This material also includes electric actuator models that show the impact of torque ripple coming from the PWM power control scheme. It demonstrates that from a position control point of view that the optimal motor selection is one that is neither too big, nor too small.
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