基于ADAMS的双足机器人建模仿真方法

Study on Modeling and Simulation of Biped Robot Based on ADAMS

针对机器人实验过程中物理实验成本较高而建模仿真不够精确的问题,提出了一种将SolidWorks绘制的虚拟样机和由Matlab/Simulink建立的基于ZMP理论的控制系统导入动力学仿真软件ADAMS进行联合仿真的方法。该方法有效地克服了ADAMS建模尺寸精度小的问题,能够发挥3个软件的优势,提高系统的动态响应能力,实现机器人实体和活动环境的高精度建模。

Due to the high cost of physical experiment and the imprecise simulation of robot,an improved method of simulation is presented.The virtual prototyping model drawn by SolidWorks and the control system established by Matlab/Simulink based on ZMP theory are imported into the dynamics analytical software ADAMS for co-simulation.The method takes the advantages of the three programs,thus improving the dynamic response capability of the system,and achieving higher precision modeling of the robot and its moving environment.