摘要
为提高双足机器人设计的效率与可靠性,建立基于虚拟样机技术的仿真系统。在ADAMS中建立双足机器人的机械动力学模型,利用Matlab中的Simulink工具箱建立控制系统,通过ADAMS与Matlab的接口ADAMS/Controls模块,实现双足机器人基于ADAMS与Matlab的联合步行仿真。虚拟样机联合仿真方法面向多领域,可避免复杂的人工建模和求解过程,仿真逼真且接近实际系统,为双足机器人物理样机的研制提供依据。
In order to reliability of biped robot improve the efficiency and design, the simulation system based on virtual prototype is built. The mechanical dynamic model of biped robot is built in ADAMS. And the control systems are built in Mat lab with the help of toolbox Simulink. Through ADAMS/Controls,we can realize coordinated simulation of walking based on ADAMS and Matlab. Collaborative simulation can do multi - filed simu lation,avoid heavy works of manual modeling, and offer foundation for the study of biped robot.
出处
《机械与电子》
2008年第1期45-47,共3页
Machinery & Electronics
