Simulation and Limited Redesign of a Counterbalanced Two Link Robotic Manipulator

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


Updated 24 Sep 2012

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SimulateCBTwolink.m uses inverse dynamics to simulate the torque trajectories required for a counterbalanced 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:

'Plant-Limited Co-Design of an Energy-Efficient Counterbalanced Robotic Manipulator'

Presented at the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, August 2012, and submitted to the ASME Journal of Mechanical Design.

These papers are 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 submission is similar to file exchange submission 36213, except that:

- The manipulator in this simulation includes counterbalance mechanisms, increasing the complexity of the design problem.
- New PLCD procedures were developed to accomodate redesign problems where the baseline design cannot even be simulated for the new task.

Cite As

James Allison (2023). Simulation and Limited Redesign of a Counterbalanced Two Link Robotic Manipulator (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2011b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

Modified the link to the corresponding YouTube video in the description. No changes to the code were made.