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Control optimization of a 4DOF arm using DIDO

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30 Aug 2010 (Updated )

4 DOF arm imported via SimMechanics generates dynamics for optimal pick-place control solved by DIDO

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Description

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.

Required Products SimMechanics
Simulink
MATLAB release MATLAB 7.8 (R2009a)
Other requirements DIDO
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Comments and Ratings (2)
15 Oct 2012 William

Very good. It seems that the file "Arm_4DOF_Feedback_1b.mdl" was missing.

10 Jun 2012 cancan

Bravo

Updates
22 Sep 2010

Added video and published files.

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