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Simulation and Limited Redesign of a Two Link Robotic Manipulator 1.0
File ID: 85685






Simulation and Limited Redesign of a Two Link Robotic Manipulator 1.0
Download Simulation and Limited Redesign of a Two Link Robotic Manipulator 1.0http://www.mathworks.comReport Error Link
License: Shareware
File Size: 10.0 KB
Downloads: 5
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Simulation and Limited Redesign of a Two Link Robotic Manipulator 1.0 Description
Description: Supplementary material for an AIAA publication regarding limited redesign of mechatronic systems.
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:

http://systemdesign.illinois.edu/publications/All12a.pdf

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

http://www.youtube.com/watch?v=OR7Y9-n5SjA

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.

License: Shareware

Related: problems, Optimization, Solution, sequential, correspond, including, Youtube, investigated

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 10.0 KB

Downloads: 5



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