Kinematic Analysis and Simulation of a Manipulator based on ADAMS and MATLAB
The relationship of velocity between the end of the manipulator and each joint is discussed in the basis coordinate system.The inverse velocity is analyzed using Jacobian matrix method for the manipulator.Considering its practical geometric parameters,restriction and physical characteristic,the virtual prototype of the robot is established in ADAMS.and then the co-simulation was completed by applying the ADAMS/Controls and MATLAB/Simulink.The virtual prototyping modeI of the robot provides a basis for research on off-line programming of the modular robot.
Manipulator Kinematics Jacobian matrix Simulation
Qingwen Qu Jixiang Wan
国际会议
The International Conference Information Computing and Automation(2007国际信息计算与自动化会议)
成都
英文
624-627
2007-12-19（万方平台首次上网日期，不代表论文的发表时间）