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

doi:10.16182/j.issn1004731x.joss.201701014

Abstract

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

CLC Number:

TP241

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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