Modeling and Simulation for the Articulated Robotic Arm Test System of the Combination Drive

摘要

At present, the great efforts Robot or the robotic arm of the smaller volume urgently needs to be researched and developed. Designed a new smaller volume heavy articulated Robotic arm test system of combination servo drive, created the mathematical models of the system, done the numerical simulation and PID optimulition of the system based on the MATLAB software platform. Simulation results show that, according to the synchronized control and PID optimization, this system has the advantages both of high positioning accuracy for motor drive system and of strong driving capability for hydraulic drive system， it showed high tracking accuracy and high speed of response for the input signal of large load, and has realized a combination servo drive of a smaller volume heavy articulated robotic arm of fast high-precision.