ADAMS环境下工业机器人运动控制和联合仿真

1、adamsmotion control and co-simulation ofindustrial robot in adams environment1adamsopengl21matlab233 12 1-2 3-4 5-8 9 10-11 12 ,adamsadamsmatlabmathworksopenglsgiapiopengl3dvisual c+ 6.0windowsopenglvisual c+ 6.0adamsmatlabvisual c+ 6.0adamsvisual c+ 6.0openglmatlabd-hadamsadamsstepwindows xp profes

2、sionalvisuall c+6.0matlab: adams abstractbefore manufacturing the first physical prototype, the designers used computertechnology to build a mechanical system of digital model for analysis simulation, whichshowed that the system works in real conditions of the various characteristics, so as to berev

3、ised and optimal design. this process is called virtual prototyping technology.now adams software is widely used in virtual prototyping analysis in the world, itis very convenient for the user to use this software ot do the statics, kinematics anddynamics analysis for the virtual machine system.but

4、to the complicated robotmechanical system,it is also very hard to do the accurate control of its movement onlyrely on adams software itself ;matlab is one of the outstanding mathematicsapplication software integrating calculation, graphical visualization and editing functionsdeveloped by the mathwor

5、ks company , and it has strong ability in complex calculation,being able to create the control model to do accurate control of the robot systemscomplicated movement . opengl(the full name of open graphics libraries) is a 3dgraphics application programming interface in the bottom,now having been the

6、industrystandard in the area of graphics developing.you can create delicate and beautiful 3dgraphics using opengl,whose visual quality is close to ray tracing program . visual c + 6.0 has become powerful integrated programming environment with editing, compiling.operating and debugging, and occupies

7、 an important position in the windowsprogramming. visual c + + 6.0 and opengl has close interface, using them we candevelop good endoscopic simulation system. because of the different due , adams,visual c + + 6.0 and matlab have their own respective advantages and disadvantages,but we can also do th

8、e joint control or mixing programming through the interfacebetween the three.in this paper, the author do research tokinematics and trackoptimization scheme of 3-dof robot based on adams , also do the visual simulationresearch of 3-dof robot using the data of the control model derived from the matla

9、bbased on visual c + + 6.0 and opengl.first of all, through the establishment of coordinates and matrix transformation, therigid body of the space that was elaborated, and then use the d-h rule, robot parametersof the joint were gained, equations of motion were given, and the joints angle wereknown

10、, initial coordinates of robot hand can be calculated. followed by adamssoftware, we processed details of the robot three-dimensional modeling, including the overall framework for building, mapped a single component and boolean operation,designed parameters for the robot and the key points. finally,

11、 we introduced the basicprinciples and methods of robot trajectory planning, and compared differences betweenthe joint space trajectory planning and rectangular coordinates space trajectory planning.the cubic polynomial and five polynomial of the robot trajectory planning were carriedout, the step f

12、unction were used on a trajectory simulation analysis of adamssoftware.then in windows xp system environment, using visual c + + 6.0 asdevelopment tool, the author establish a 3-dof manipulator visual simulation system,realizing the accessing and using to the data of control model derived from matla

13、b .key words: kinematics trajectory planning adams virtual prototyping technologyvisual simulation texture mapping . 11. 1 . 11.2 . 11.2.1 . 21.2.2 . 21.4 . 4 . 52.1 . 52.1.1 . 52.1.2 . 62.2 . 62.2.1 . 62.2.2 . 102.2.3 . 102.3 . 112.3.1d-h . 122.3.2 . 152.4 . 16 adams . 183.1 adams . 183.2 adams . 1

14、83.2.1 . 193.2.2 . 193.2.3 . 203.3 . 213.3.1 . 213.3.2 . 27 . 32 4.1 opengl . 334.1.1 opengl . 334.1.2 opengl . 344.2 . 354.2.1 mfc . 354.2.2 opengl . 374.3 . 404.3.1 . 404.3.2 opengl . 414.4 . 445.4.1 . 454.4.2 . 484.5 . 514.5.1 . 524.5.2 . 554.5.3 . 60 . 63 . 65 . 66 . 73 . 74 1.1 1961consolided control corpamf1 ()2004111402abb roboticsfanucyaskawakuka roboteradepttechnologyamerican robotcomauautotech robotics2020041400890002.62004303 1.21.2.1 ,cad,a ,b ,c , internet, 1.2.2 ,(nasa)(jpl)jpl777, ,4,1234 1.3 1.3.1 21(visual simulation) 1.3.2 ,vc+6.0op