CoSimulation Control of Robot Arm Dynamics （控制机械臂动力学联合仿真）.pdfVIP

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CoSimulation Control of Robot Arm Dynamics （控制机械臂动力学联合仿真）.pdf

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CoSimulation Control of Robot Arm Dynamics （控制机械臂动力学联合仿真）

Research Journal of Applied Sciences, Engineering and Technology 6(20): 3778-3783, 2013 ISSN: 2040-7459; e-ISSN: 2040-7467 漏 Maxwell Scientific Organization, 2013 Submitted: January 14, 2013 Accepted: February 22, 2013 Published: November 10, 2013 Co-Simulation Control of Robot Arm Dynamics in ADAMS and MATLAB 1, 2Luo Haitao, 2Liu Yuwang, 1, 2Chen Zhengcang and 1, 2Leng Yuquan 1University of Chinese Academy of Sciences, Beijing 100049, China 2Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China Abstract: 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. Keywords: ADAMS, co-simulation, dynamics, MATLAB, robot arm INTRODUCTION combine mechanical system simulation wit