基于ADAMS的平面机器人逆解方法的研究的中期报告.docxVIP

基于ADAMS的平面机器人逆解方法的研究的中期报告 Abstract： This paper presents a research report on the inverse solution method of planar robots based on ADAMS. The research aims to improve the accuracy and efficiency of the inverse solution method for planar robots. The research methodology involves developing a mathematical model in MATLAB, generating a simulation of the robot in ADAMS, and developing a script in ADAMS to solve the inverse kinematics problem of the robot. The research findings indicate that the proposed method is effective and efficient for solving the inverse kinematics problem of planar robots. The paper concludes with a discussion of further research needs and potential applications of the proposed method. Introduction： Robotics is an interdisciplinary field that combines mechanical, electrical, and computing engineering to develop machines that can perform tasks automatically. Inverse kinematics is a fundamental problem in robotics, which involves determining the joint angles of a robot given its end-effector position and orientation. The solution of this problem is essential for planning robot trajectories and controlling robot motion. The inverse kinematics problem is generally considered more complex than the forward kinematics problem, which involves calculating the end-effector position and orientation given the joint angles of a robot. In this research, we focus on the inverse kinematics problem of planar robots and propose a method based on ADAMS to solve it. Methodology： The methodology of this research involves the following steps: 1. Develop a mathematical model: First, a mathematical model of the planar robot is developed in MATLAB. The model includes the robots link lengths, joint angles, and end-effector position and orientation. 2. Generate a simulation: Next, a simulation of the planar robot is generated in ADAMS. The simulation includes the robots physical characteristics, such as mass, inertia, and friction. 3. Develop a script: A script is develope