Stability Simulation of Six DOF manipulators using ADAMS and MATLAB

摘要

In cooperative manipulation, more than one robots deal with a single payload. The load distribution of one robot depends on the configuration and motion of the other robot. For successful cooperation, the two manipulators need to operate under a single controller. A number of software such as MSC.ADAMS is popular for the dynamic simulation of mechanical systems. The software also allows co-simulation with control system software such as MATLAB. In the present work, it is proposed to simulate the motion and dynamics of cooperative manipulators using MSC.ADAMS and MATLAB. The primary aim of the work will be to consider an industrial robot manipulator from KUKA or FANUC as manipulators involved in a cooperative task. While MSC.ADAMS will be used for estimation of forces and motion simulation, MATLAB will be used for generation of feasible trajectories for successful cooperative manipulation.