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Question: How to Lock Links of a Robot ?

ABB_IRB_120_Model_IK_OK_6_RealParamsLinearization.msim

 

I did the model of the ABB IRB 120 in MapleSim, but I would like to lock several links but I do not know how to do it.

 

Also I need the differential equations of the robot, which must be six differential equations but in MapleSim equation extraction page there are lots of equations.

 

Please can you help me ?

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