| 基于 ADAMS 的仿人机器人行走仿真 |
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| 引用本文： | 肖乐,常晋义,殷晨波.基于 ADAMS 的仿人机器人行走仿真[J].常熟理工学院学报,2012(4):73-78. |
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| 作者姓名： | 肖乐 常晋义 殷晨波 |
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| 作者单位： | 1. 常熟理工学院计算机科学与工程学院,江苏常熟215500
2. 南京工业大学机械与动力工程学院,南京210009 |
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| 摘 要： | 采用机械系统动力学仿真分析软件 ADAMS 进行建模和动力学仿真,提供机器人三维实体模型、运动学和动力学模型以及动画仿真.采用控制系统专业软件 Matlab 进行机器人控制系统设计,提供控制关节目标轨迹、稳定控制算法并输出驱动力矩.通过 ADAMS/Controls 接口模块建立起 Matlab 与 ADAMS 之间的数据接口.联合仿真方法为实现仿人机器人在线控制奠定了基础
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| 关 键 词： | 仿人机器人 虚拟样机 行走稳定性 联合仿真 |
The Working Simulation of Humanoid Robot Base on ADAMS |
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| XIAO Le,CHANG Jin-yi,YIN Chen-bo.The Working Simulation of Humanoid Robot Base on ADAMS[J].Journal of Changshu Institute of Technology,2012(4):73-78. |
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| Authors: | XIAO Le CHANG Jin-yi YIN Chen-bo |
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| Institution: | 1.School of Computer Science and Engineering,Changshu Institute of Technology,Changshu 215500,China;2.School of Mechanical and Power Engineering,Nanjing University of Technology,Nanjing 210009,China) |
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| Abstract: | A simulation method combining ADAMS and Matlab was adopted.3D entity model,kinematics and dynamic model were built in ADAMS.The design and simulation of the control system were realized in Matlab.The data communication between Matlab and ADAMS was realized by the interface module ADAMS/Controls.This simulation method lays a foundation for on-line control of humanoid robot. |
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| Keywords: | humanoid robot virtual prototype walking stability co-simulation |
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