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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

a=Arm_4DOF_FixedFinal(x)
function a=Arm_4DOF_FixedFinal(x)
% States: reverse from base, angle then velocity in radians
a=[x.states(:,1); x.states(:,end)];

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