ADAMS-MATLAB Co-Simulation of A Serial Manipulator

被引：3
|
作者：
Parthasarathy, Tejaswin [1 ]
Srinivasaragavan, Vignesh [1 ]
Santhanakrishnan, Soundarapandian [1 ]
机构：
[1] Indian Inst Technol, Dept Mech Engn, Madras 600036, Tamil Nadu, India
来源：
2016 THE 3RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND MECHANICAL ENGINEERING (ICMME 2016) | 2017年 / 95卷
关键词：
D O I：
10.1051/matecconf/20179508002
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper presents the dynamic modelling and simulation of a now redundant robot, Mitsubishi RM-501, and proposes a general algorithm for experimental simulation in kinematics, dynamics and control analysis to any such robot. Through reverse engineering, a model as accurate as the real robot was developed in SolidWorks. The simulations of the same were performed in ADAMS (dynamicmodeling software offered by MSC Software Corp) along with MATLAB for motion studies and control dynamics. Finally, with a user-input path the accuracy and precision of the simulator was verified.
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页数：6
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