A co-simulation approach based on ADAMS-SIMULINK for development of manipulator position controller
A co-simulation approach based on ADAMS-SIMULINK for development of manipulator position controller
复制标题
基于ADAMS-SIMULINK的机械臂位置控制器联合仿真开发方法
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Li Yibin
中科院分区：
文献类型：
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作者：
Hongjun Song;Xuewen Rong;Li Yibin
本文为利用联合仿真技术开发机械手控制器提供了一个全面而清晰的路线图。在一个三维机械臂上，基于ADMAS和SIMULINK开发并验证了位置控制器。在运动学和动力学建模的基础上，采用PD+G控制策略，通过联合仿真对控制器进行了设计和验证，仿真结果和分析表明本文的工作是切实可行的，可以应用于其他相关的控制策略。
The paper presents an overall and clear roadmap for the development of manipulator controller using co-simulation technique. It works on a 3DOF manipulator to develop and verify position controller based on ADMAS and SIMULINK. PD+G control strategy is taken based on kinematics and dynamics modeling, the controller is designed and verified via co-simulation, the simulation results and analysis show that the paper's work is practical and can be applied to other relevant control strategies.