FIRA 2009: Progress in Robotics pp 10-18 | Cite as
The Co-simulation of Humanoid Robot Based on Solidworks, ADAMS and Simulink
Abstract
A simulation method of adaptive controller is proposed for the humanoid robot system based on co-simulation of Solidworks, ADAMS and Simulink. A complex mathematical modeling process is avoided by this method, and the real time dynamic simulating function of Simulink would be exerted adequately. This method could be generalized to other complicated control system. This method is adopted to build and analyse the model of humanoid robot. The trajectory tracking and adaptive controller design also proceed based on it. The effect of trajectory tracking is evaluated by fitting-curve theory of least squares method. The anti-interference capability of the robot is improved a lot through comparative analysis.
Keywords
humanoid robot co-simulation adaptive controller trajectory trackingPreview
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