| ADAMS和Matlab交互仿真的机械臂定位控制 |
| |
| 引用本文： | 殷翔,董正筑,王继燕.ADAMS和Matlab交互仿真的机械臂定位控制[J].吉林工学院学报,2005,26(4):332-334. |
| |
| 作者姓名： | 殷翔 董正筑 王继燕 |
| |
| 作者单位： | 中国矿业大学理学院,江苏徐州221008 |
| |
| 摘 要： | 运用虚拟样机软件ADAMS和数值计算软件Matlab建立交互式仿真系统，并采用比例微分控制法（proportional derivatiVe，简称PD）对二阶机械臂进行定位控制模拟。实验证明，使用ADAMS和Matlab交互式仿真系统将机械系统动力学建模和控制系统分离，可以避免传统机械控制的复杂性，为机械系统控制研究提供了方便。
|
| 关 键 词： | ADAMS Matlab 定位控制 比例微分控制 机械臂 |
| 文章编号： | 1006-2939（2005）04-0332-03 |
| 收稿时间： | 2005-08-25 |
| 修稿时间： | 2005年8月25日 |
Position control of mechanical arms based on the ADAMS and Matlab alternant system |
| |
| YIN Xiang, DONG Zheng-zhu, WANG Ji-yan.Position control of mechanical arms based on the ADAMS and Matlab alternant system[J].Journal of Jilin Institute of Technology,2005,26(4):332-334. |
| |
| Authors: | YIN Xiang DONG Zheng-zhu WANG Ji-yan |
| |
| Institution: | College of Sciences, China University of Mining and Technology, Xuzhou 221008, China |
| |
| Abstract: | With both the Automatic Dynamic Analysis of Mechanical System(ADAMS in short) and Matlab,an alternant simulation system is established.The position control for the second-step(mechanical) arms is also simulated with the proportional derivative(PD in short).The results show that the separation between the dynamic model for the mechanical system and the control system can simplify the traditional mechanical control,and make the researches in the field more convenient. |
| |
| Keywords: | ADAMS Matlab position control proportional derivative mechanical arms |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
