Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB
文献类型：期刊论文
| 作者 | Luo HT(骆海涛) ; Liu YW(刘玉旺); Chen ZC(陈正仓); Leng YQ(冷雨泉)
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| 刊名 | Research Journal of Applied Sciences, Engineering and Technology
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| 出版日期 | 2013 |
| 卷号 | 6期号:20页码:3778-3883 |
| 关键词 | ADAMS co-simulation dynamics MATLAB robot arm |
| ISSN号 | 2040-7459 |
| 产权排序 | 1 |
| 中文摘要 | 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 |
| 公开日期 | 2013-12-26 |
| 源URL | [http://ir.sia.cn/handle/173321/13969]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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