Control optimization of a 4DOF arm using DIDO (Scripts) Publisher's description
from Alan Jennings
A 4 DOF arm based on the Motoman IA20 was built in AutoDesk Inventor
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.
System Requirements:MATLAB 7.8 (R2009a)
Program Release Status: New Release
Program Install Support: Install and Uninstall