Research on designing method of manipulator’s controller

DOI

10.2991/iiicec-15.2015.173How to use a DOI?

Keywords

adams; matlab; interactive simulation; manipulator; PD control; trajectory tracking

Abstract

In this research, a three-dimensional model consisting of two-joint welding manipulator is built using Solidworks. Then the model that imported into MSC Adams execute both kinematics and dynamics simulation through the interface module between MSC Adams and Matlab. The control system of manipulator implemented the interactive simulation at the end. The two-joint welding manipulator’s path control is based on PD controller that combined with robust and adaptive terms. Result shows that the manipulator system has a convincing performance in both dynamic response characteristics and trajectory tracking capability.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Peng Wei
AU  - Zhe Xu
AU  - Xiaohua Mou
PY  - 2015/03
DA  - 2015/03
TI  - Research on designing method of manipulator’s controller
BT  - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference
PB  - Atlantis Press
SP  - 765
EP  - 768
SN  - 2352-538X
UR  - https://doi.org/10.2991/iiicec-15.2015.173
DO  - 10.2991/iiicec-15.2015.173
ID  - Wei2015/03
ER  -