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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,b]=Arm_4DOF_MinEnergy_Cost(x)
function [a,b]=Arm_4DOF_MinEnergy_Cost(x)
a=x.nodes(end)*0; %final cost
b=sum(x.controls.^2,1); %running cost

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