Dynamics Co-simulation of Multi-DOF Dexterous Robot Hand System Based on ADAMS and Simulink

Abstract

In this paper, dynamic co-simulation method is studied with respect to multi-DOF dexterous robot hand. A dynamic analysis method based on ADAMS and Simulink is introduced, that make up for the deficiencies of control system design in ADAMS and shortage of load parameters calculation in Simulink. Co-simulation model of robot hand mechanical structure and joint servo motor control system are developed. After PID controller parameters optimization, precise position trajectory tracking control of finger joints is achieved.