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题名: Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB
作者: 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
刊名: Research Journal of Applied Sciences, Engineering and Technology
ISSN号: 2040-7459
出版日期: 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
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/13969
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
骆海涛;刘玉旺;陈正仓;冷雨泉.Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB,Research Journal of Applied Sciences, Engineering and Technology,2013,6(20):3778-3883
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