Simulation Analysis of Virtual Platform of Close-coupling Multiple Robots Combined Lifting System

Abstract

Abstract: A framework of virtual simulation platform of close-coupling multiple robots combined lifting system was constructed. The model of the multiple robots system was established based on UG. The mathematical model of the mobile robot and the static equilibrium equation of the operated object was established. A collaborative control simulation system was set up based on ADAMS and MATLAB closed loop. In close-coupling multiple robots combined lifting system, according to two different trajectory planning, calculating draw of the mathematical model and the co-simulation model output curves were compared and analyzed to verify the correctness of the mathematical model of the mobile robot, validating the rationality of the co-simulation control system, which lays an important the foundation for dynamics and motion stability analysis of subsequent close-coupling multiple robots system.

Key words: multiple robots system, mobile robot, mathematical model, trajectory planning, combination control simulation

CLC Number:

TP391.9

Su Cheng, Wang Yanlin, Liu Jitao, Zhao Zhigang. Simulation Analysis of Virtual Platform of Close-coupling Multiple Robots Combined Lifting System[J]. Journal of System Simulation, 2015, 27(12): 2981-2987.

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