Supplementary Material from Investigating Advantageous Formulations of Multibody Systems for Optimal Control

<p>This repository provides supplementary material alongside the publication, namely the Matlab implementation, i.e., scripts and functions, for the studied five-bar linkage system, and an animation of the studied serial manipulator with flexible link.</p>

<p>The Matlab implementation provides all variants of optimal control problems, which are mentioned within the publication for the five-bar linkage system. Besides Matlab, a recent version of CasADi is required. For more information, see the provided readme.md file.</p>

<p><b>Download the Matlab code via "Access Dataset" - "Download ZIP" to keep the relative file structure intact.</b></p>

<p>The provided animation visualizes an exemplary simulation result of a three degree of freedom serial manipulator with flexible link. The manipulator's task is a set point change, which is realized with the application of a model predictive controller. The animation's main purpose is to visualize the manipulator's movement, within the configuration space. Furthermore, additional signals of interest are plotted, i.e., the control torque applied to each joint, joint angles, the elastic coordinate of the flexible link, and the end effector's position.</p>

<p>Further information about the simulation models, the software toolchain, the resulting Matlab code, and the connected investigations can be found in the associated publication.</p>