a 3DOF manipulator, performing the task of pick and place
The robot consists of three links: the first link rotates around the z-axis expressed in the world frame, the second and the third links rotate around the x-axis expressed in the world frame.
Our task: to pick two sphere_shaped objects, from different positions, and place them in the a desired position(here the box).
NOTE: The robot is built depending on simscape multibody toolbox, and Simscape Multibody Contact Forces Library