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 ?