基于Adams和Matlab的自平衡机器人仿真

作者：龚建球，刘守斌 日期：2008-02-25/span> 浏览：2988 查看PDF文档

基于Adams和Matlab的自平衡机器人仿真

龚建球，刘守斌
（哈尔滨工业大学 深圳研究生院，广东 深圳 518055）

摘要：首先简述了机器人仿真研究的现状,以及机械系统动力学分析仿真软件Adams及Simulink在机器人仿真上的应用。然后应用拉格朗日方程建立了系统的动力学方程，应用Adams和Matlab对自平衡机器人进行了联合仿真。仿真结果表明，基于Adams和Matlab的自平衡机器人具有较好的动态特性。
关键词：自平衡机器人；动力学；机器人仿真
中图分类号：TP242文献标识码：A文章编号：1001-4551(2008)02-0008-04

Cosimulating of twowheeled selfbalanced robot using Adams and Matlab
GONG Jianqiu, LIU Shoubin
（Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055, China）
Abstract: The research situation and the application of Adams and Simulink on robots simulation were presented. The dynamics equation of twowheeled selfbalanced robot was established based on Lagranges equation, and dynamics simulation was executed based on Adams with Matlab. The simulation results prove that twowheeled selfbalanced robot has better dynamic characteristics than the other.
Key words: selfbalanced robot; dynamics; robot simulation