Zhiguo Lu
Department of Mechanical Engineering and Automation, Northeastern University, China
Xunfang Qi
Department of Mechanical Engineering and Automation, Northeastern University, China
Hong Wang
Department of Mechanical Engineering and Automation, Northeastern University, China
Chong Liu
Department of Mechanical Engineering and Automation, Northeastern University, China
Qingwen Yu
Department of Mechanical Engineering and Automation, Northeastern University, China
ABSTRACT
This study describes the modeling and simulation methods for a humanoid robot. Firstly, the 3-D mechanical model of the humanoid robot is established using Pro/E, then, the established model is imported to the ADAMS, which is a useful software package for modeling and simulation of complex mechanical dynamic models. However it has some disadvantages with respect to the motion planning and controller-design. So, another software package, Matlab/Simulink, is used to make the controller-design and system analysis become easier and convenient. During the simulation, the designed joint angles are inputted to the platform, then ADAMS gains joint torques from motion controller, which is designed in MATLAB and then the robot performs the designed motions in ADAMS. The simulation and experimental results prove that the designed joint angle trajectories are followed well.
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How to cite this article
Zhiguo Lu, Xunfang Qi, Hong Wang, Chong Liu and Qingwen Yu, 2013. Co-simulation System for A Humanoid Robot Based on Pro/E ADAMS and MATLAB. Information Technology Journal, 12: 5238-5244.
DOI: 10.3923/itj.2013.5238.5244
URL: https://scialert.net/abstract/?doi=itj.2013.5238.5244
DOI: 10.3923/itj.2013.5238.5244
URL: https://scialert.net/abstract/?doi=itj.2013.5238.5244
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