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Simulation and Limited Redesign of a Two Link Robotic Manipulator

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Simulation and Limited Redesign of a Two Link Robotic Manipulator


James Allison (view profile)


Supplementary material for an AIAA publication regarding limited redesign of mechatronic systems.

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SimulateTwolink.m uses inverse dynamics to simulate the torque trajectories required for a two-link planar robotic manipulator to follow a prescribed trajectory. It also computes total energy consumption. This code is provided as supplementary material for the paper:

'Engineering System Co-Design with Limited Plant Redesign'

Presented at the 8th AIAA Multidisciplinary Design Optimization Specialist Conference, April 2012.

The paper is available from:

A video illustrating the motion of several design solutions investigated in this paper is available on YouTube:

This code was used in the solution of optimization problems described in the above paper, including problems that correspond to:

- sequential mechatronic design
- co-design for energy minimization (integrated plant and control design)
- co-design with limited plant redesign (for system repurposing)

The data for each case presented in the paper is provided so that plots of workspace trajectories and torque-speed curves can be reproduced.

Note: this code provides only analysis capability. No optimization code is included. Optimization implementations for the above paper require TOMLAB.


This file inspired Simulation And Limited Redesign Of A Counterbalanced Two Link Robotic Manipulator.

Required Products MATLAB
MATLAB release MATLAB 7.13 (R2011b)
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17 Oct 2016 Kelvin Sudani

04 Feb 2016 Ansir Ilyas

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