基于ADAMS的6R机器人控制模型研究

Research on 6R Robot Control Model Based on ADAMS

机器人的控制是机器人领域的一大难点。提出了一种机器人新的控制模型,即运用三维建模软件建立机器人的虚拟样机模型,再利用虚拟样机软件ADAMS进行动力学正、逆问题分析。为了验证模型的可靠性,将利用拉格朗日方法建立的动力学模型与利用ADAMS得到的模型进行对比,并利用ADAMS+Matlab联合仿真对机器人进行控制算法仿真。结果证明了该方案的可行性。

Robot control is a huge problem in robot field.Aiming at founding of robot control algorithm simulation model,a new scheme was put forward.Three-dimensional modeling software was used to build robots virtual prototyping model,then the virtual prototype software ADAMS was used for positive and inverse dynamics analyses.In order to verify the reliability of the models,the dynamic model established by Lagrange method was contrasted with the model established by ADAMS.The ADAMS＋Matlab joint simulation algorithm was used to control the robot.The result proves the scheme is feasible.