The simulation finds the appropriate angular velocity time histories required to raise the glass from ground level to the table height in a straight 45 degree trajectory.
The "Build Robot" command constructs the robot from inputs, and "Go!" starts the simulation.
The plot menu allows to generate plots of the angle and angular velocity time histories for the two arms.
The angles are measured from inertial horizontal and the angular velocities are of dextral reference frames aligned with the two arms.
· MATLAB 7.9 or higher