| Many basic and promising robotics research results were achieved during the late 1970s and early 1980s, including manipulator kinematics, line trajectory, and Cartesian force control. However, these concepts are too abstract in the form of math formulas. Besides that, about 30 years since 1980s many research projects and technologies still have not reached industrial usage. Students in the universities and the engineers in the industrial labs need a platform to do research, but the real industrial robot and the electronic control devices are expensive.In this paper, the virtual prototyping and the simulated control techniques were introduced. A virtual experiment platform was build, which incorporated the software MSC. ADAMS and Matlab. On this platform, the robot mechanical design analysis and different control model test can be run.On the platform, the virtual prototyping (VP) of a KUKA Kr30-3 industrial robot was built in the ADAMS environment, and programs of the robot kinematics, dynamics, and trajectory generation were finished in M-files and C-mex scripts used by the Matlab/Simulink models. At last, a simulated control system, built on the torque feed-forward control model, was set up. |
