On The Control Simulation Software System Of Robots Based On Virtual Prototype

The dynamic simulation of robot manipulators is an important topic in the study of robots. It is of great value to develop high efficient simulation software for the research and application of robots. The dynamic simulation and control simulation should be integrated in order to get the whole performance of robots. So far the software has not been matured to simulate mechanical system and control system synchronously. The famous software ADAMS can be used to simulate the combined system, but its interface is complicated and so need some new development. Thereby it takes less expense to develop a combined simulating system based on ADAMS.A simulation software system is proposed using the knowledge of software engineering in this study. The existent interface between ADAMS and MATLAB is used and reinforced. A robot simulation model is added into ADAMS and MATLAB accordingly. The strongpoints of the system are as follows. Above all, the simulating operation is automatic because the interface between ADAMS and MATLAB is shielded and simplified. Secondly, this system can simulate factual motor that is the simplified and ideal one in ADAMS. In the new system, the motor is automatically created and the operation is just to select a method of control. Finally, the configuration of ADAMS is simplified by using the software system. The advantage of the system has been demonstrated through an example of a planar two-arm robot with flexible joints. The numerical result shows that the system works steadily and so can be used into various kinds of mechanical system. The simulation efficiency for the dynamic analysis of robot can be enhanced.