Kinematics/Dynamics Analysis with ADAMS/MATLAB Co-simulation of a SolidWorks Designed Spatial Robot Arm with Control and Validation of Results

EasyChair Preprint no. 1619

Abstract

This paper present kinematic and dynamic analysis of a 3-R robot arm with Adams/Matlab Co-Simulation, and its control with PID and PID based fuzzy logic controller, finally simulated results is compared with numerical method in Matlab, for kinematics/dynamic analysis a three degree of freedom robot arm with all revolute joint is designed in Solidworks, and designed model is exported in Adams, Exported plant motion is controlled with the Matlab Sim-ulink software. ADAMS software is now widely applied to most of the areas such as Robotics, automobile, mechanism and so on for automatic dynamic analysis of the mechanical system. The virtual model plant created by ADAMS software is approaching the real model dynamics analysis in Matlab with numerical meth-ods and it can provide a credible result for the real model simulation with ode45 numerical method test and analysis.

Keyphrases: co-simulation, Fuzzy & PID Control, Spatial Arm

@Booklet{EasyChair:1619,
  author = {Vikash Kumar},
  title = {Kinematics/Dynamics Analysis with ADAMS/MATLAB Co-simulation of a SolidWorks Designed Spatial Robot Arm with Control and Validation of Results},
  howpublished = {EasyChair Preprint no. 1619},

  year = {EasyChair, 2019}}