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What you're looking for is doable but it is difficult for beginners. There is a plethora of skills you need. The skills are 1- Mathematical modelling: The first step for any project is to derive the mathematical model of your system. This requires expertise in specific fields. For manipulators, you need to apply, for example, Netwon's laws to derive the ...


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You should look into Energid's Actin SDK, its a commercial product that allows for this. https://www.energid.com/ Full disclosure I work for Energid, and i work with customers doing similar things


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