This model can be found in the 20-sim demo directory.
You can open this model and simulate it yourself using the free 20-sim demo/viewer!

Fast Manipulator

This demo shows a controlled mechanism, designed to perform high speed pick and place operations.

The manipulator has been modeled in high detail:

• A roll-off filter has been inserted to mimic the effects of sampling delay.

• The motor has been modelled as an ideal torque source with rotational inertia.

• All the identified mechanic parts are modeled with stiffness and inertia.

Full 20-sim model of the controlled manipulator

Time simulation of the complete manipulator

A good method to analyze machines is to calculate the sensitivity of the parameters: how large is the change in behavior when a parameter has changed. In this example the sensitivity for a change in end effector error is calculated.

Result of sensitivity analysis for the error of the end effector position