基于ADMAS与MATLAB的合作机器人的联合仿真  

The Collaborative Simulation of Cobot Based on ADAMS and MATLAB

作　　者：王克琦[1] 温效朔[1] 

机构地区：[1]潍坊学院机电工程学院,山东潍坊261061

出　　处：《机电产品开发与创新》2005年第6期35-37,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：为了分析Cobot的动力学性能,应用ADAMS/View和MATLAB/Simulink对四自由度Cobot进行了联合仿真。仿真结果表明,该仿真模型具有Cobot机器人的特点,可以方便地获得Cobot的动力学参数,为实现机器人的控制及性能改进提供了理论依据。联合仿真的方法为复杂机械系统的控制仿真提供了新思路。In order to analyze dynamic performances of Cobot, the dynamics simulation of a four-degree-of-freedom Cobot was completed by applying the ADAMS/View and MATLAB/Simulink. The simulation results illustrate that the model possesses features of Cobot, and conveniently acquires dynamics parameters of a Cobot, so it can provide theoretical bases for robot control and performance improvement. The method offers a new thought to the simulation of control system of complex mechanism.

关 键 词：COBOT 联合仿真 虚拟样机 ADAMS MATALB 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术]