七自由度机械臂的ADAMS/MATLAB联合仿真研究

doi:10.16182/j.issn1004731x.joss.201701014

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (1): 99-106.doi: 10.16182/j.issn1004731x.joss.201701014

七自由度机械臂的ADAMS/MATLAB联合仿真研究

陈罡^1,2, 周奇才¹, 吴菁², 严楠³

1.同济大学机械与能源工程学院,上海 201804;
2.浙江纺织服装职业技术学院,宁波 315211;
3.西安工程大学机电学院,西安 710048

收稿日期:2015-04-15 修回日期:2015-08-12 出版日期:2017-01-08 发布日期:2020-06-01
作者简介:陈罡(1974-),男,浙江永康,博士生,教授,研究方向为机电智能控制、机器人技术。
基金资助:
国家科技支撑计划项目(2014BAF10B01),宁波市科技创新团队(2015B11009),产业技术创新重大专项(2016B10012、2015B11055)

Research for Co-simulation of 7DOF Manipulator Based on Adams and Matlab

Chen Gang^1,2, Zhou Qicai¹, Wu Jing², Yan Nan³

1. School of Mechanical Engineering Tongji University, Shanghai 201804, China;
2. Zhejiang Textile & Fashion College, Ningbo 315211, China;
3. College of Mechanical & Electrical, Xi'an Polytechnic University, Xi'an 710048, China

Received:2015-04-15 Revised:2015-08-12 Online:2017-01-08 Published:2020-06-01

摘要/Abstract

摘要： 为了研究冗余机械臂多关节耦合作用对机械臂控制的影响,采用SolidWorks建立了7自由度机械臂三维模型,基于ADAMS与MATLAB对其进行联合仿真。采用分布式控制设计思想,设计了单关节的Proportional-Differential伺服控制方案,得到了7自由度机械臂各关节同步协调运动下的动态响应曲线,对实际工作中的外部环境干扰下的末端执行器进行仿真验证。结果表明各关节及末端执行器动态响应良好,验证了控制器及参数设计的合理性,进一步证明该方法可行、有效、实用,为冗余机械臂的后续控制研究提供了理论依据和试验基础。

关键词: 冗余机械臂, ADAMS, MATLAB, 联合仿真, 耦合

Abstract: In order to study the redundant robot joint coupling effect on the control of the robot, the model of 7DOF manipulator was built based on SolidWorks, then co-simulation of ADAMS and MATLAB was researched; PD servo control scheme of single joint was designed based on the distributed control, the dynamic response curve of each joint of the manipulator was obtained in the process of synchronous movement, and the simulation of the end actual actuator was researched with the interference of the external environment. The results show that each joint and end effector response is well, the rationality of the controller and the parameter design is verified, which further proves that this method is feasible, effective and practical, which provides theoretical and experimental basis for the research of control of redundant manipulator.

Key words: redundant manipulator, ADAMS, MATLAB, co-simulation, coupling

中图分类号:

TP241

陈罡, 周奇才, 吴菁, 严楠. 七自由度机械臂的ADAMS/MATLAB联合仿真研究[J]. 系统仿真学报, 2017, 29(1): 99-106.

Chen Gang, Zhou Qicai, Wu Jing, Yan Nan. Research for Co-simulation of 7DOF Manipulator Based on Adams and Matlab[J]. Journal of System Simulation, 2017, 29(1): 99-106.

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七自由度机械臂的ADAMS/MATLAB联合仿真研究

Research for Co-simulation of 7DOF Manipulator Based on Adams and Matlab

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