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Sim4RAD: A MATLAB Toolkit for Design-Phase Sizing, Actuator Selection and URDF-Model Verification of Serial Robotic Arms
Actuator sizing is an early and consequential decision: joint torque and velocity specifications fix the motors, gearboxes and brakes before any CAD model exists. Sim4RAD is a MATLAB toolkit for that phase and for the verification that follows it. It builds a rigid-body model from a handful of param
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