ADAMS-MATLAB Co-Simulation of A Serial Manipulator

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.