Study of dynamic simulation and control algorithm of palletizing robot

摘要

A simulation model is built to analyze the dynamics of palletizing robot.The 3D solid model of the robot was created using UG and imported to ADAMS.Constraints was defined between bod-ies,and the control block diagram was designed using SIMULINK.A parallel controller based on CMAC and PID was applied in this simulation model.Finally the simulation results show high precision and re-sponse speed of the proposed algorithm.