Control optimization of a 4DOF arm using DIDO

Version 1.1.0.0 (1,22 Mo) par Alan Jennings
4 DOF arm imported via SimMechanics generates dynamics for optimal pick-place control solved by DIDO
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Mise à jour 22 sept. 2010

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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.

Citation pour cette source

Alan Jennings (2024). Control optimization of a 4DOF arm using DIDO (https://www.mathworks.com/matlabcentral/fileexchange/28596-control-optimization-of-a-4dof-arm-using-dido), MATLAB Central File Exchange. Récupéré le .

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Version Publié le Notes de version
1.1.0.0

Added video and published files.
1.0.0.0