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Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB
Luo HT(骆海涛); Liu YW(刘玉旺); Chen ZC(陈正仓); Leng YQ(冷雨泉)
作者部门空间自动化技术研究室
关键词Adams Co-simulation Dynamics Matlab Robot Arm
发表期刊Research Journal of Applied Sciences, Engineering and Technology
ISSN2040-7459
2013
卷号6期号:20页码:3778-3883
产权排序1
摘要The main objective of this study is how to quickly establish the virtual prototyping model of robot arm system and effectively solve trajectory tracking control for a given signal. Taking the 2-DOF robot arm as an example, a co-simulation control method is introduced to research multi-body dynamics. Using Newton-Euler and Lagrange method, respectively establish the dynamics model of robot arm and verify the correctness of equations. Firstly, the physical model of robot arm was built by PROE and ADAMS. Furthermore, a control model was created in MATLAB/SIMULINK. And then, the co-simulation model was established based on ADAMS/Control and MATLAB/SIMULINK. The simulation results indicate that the robot arm system has preferable response characteristics and nicer locus-tracking ability. The co-simulation method is intuitive and effective. It is no need to create dynamics equation of complicated physical system and has the important practical significance to study manipulation and control for robot arm.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/13969
专题空间自动化技术研究室
通讯作者Luo HT(骆海涛)
作者单位1.University of Chinese Academy of Sciences, Beijing 100049, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714
Luo HT,Liu YW,Chen ZC,et al. Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB[J]. Research Journal of Applied Sciences, Engineering and Technology,2013,6(20):3778-3883.
APA Luo HT,Liu YW,Chen ZC,&Leng YQ.(2013).Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB.Research Journal of Applied Sciences, Engineering and Technology,6(20),3778-3883.
MLA Luo HT,et al."Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB".Research Journal of Applied Sciences, Engineering and Technology 6.20(2013):3778-3883.
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