ADAMS和Matlab交互仿真的机械臂定位控制

Position control of mechanical arms based on the ADAMS and Matlab alternant system

运用虚拟样机软件ADAMS和数值计算软件Matlab建立交互式仿真系统,并采用比例微分控制法(proportional derivative,简称PD)对二阶机械臂进行定位控制模拟。实验证明,使用ADAMS和Matlab交互式仿真系统将机械系统动力学建模和控制系统分离,可以避免传统机械控制的复杂性,为机械系统控制研究提供了方便。

With both the Automatic Dynamic Analysis of Mechanical System （ADAMS in short） and Matlab, an alternant simulation system is established. The position control for the second-step mechanical arms is also simulated with the proportional derivative （PD in short）. The results show that the separation between the dynamic model for the mechanical system and the control system can simplify the traditional mechanical control, and make the researches in the field more convenient.