Supplementary Material from Investigating Advantageous Approaches for Incorporating DAE-Based Multibody Models in Model Predictive Control Problems

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.

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