Control optimization of a 4DOF arm using DIDO

Version 1.1.0.0 (1.22 MB) by Alan Jennings
4 DOF arm imported via SimMechanics generates dynamics for optimal pick-place control solved by DIDO
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Updated 22 Sep 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.

Cite As

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. Retrieved .

MATLAB Release Compatibility
Created with R2009a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes
1.1.0.0

Added video and published files.
1.0.0.0