| 方生六足机器人控制系统的仿真技术研究 |
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| 引用本文： | 武坤,罗庆生,韩宝玲,徐嘉,黄麟.方生六足机器人控制系统的仿真技术研究[J].机械与电子,2007(3):58-60. |
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| 作者姓名： | 武坤 罗庆生 韩宝玲 徐嘉 黄麟 |
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| 作者单位： | [1]北京理工大学机电工程学院,北京100081 [2]北京理工大学机械与车辆工程学院,北京100081 |
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| 摘 要： | 应用机械系统动力学分析仿真软件ADAMS与Matlab建立交互式仿真系统，并采用CMAC与PID复合控制法对仿生六足机器人运动控制系统进行联合仿真。仿真结果表明，该仿真方法可以有效提高控制系统及机械系统的设计效率，为实现机器人的控制及性能改进提供了理论依据。联合仿真的方法还为复杂机械系统的控制仿真提供了新途径。
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| 关 键 词： | 仿生六足机器人 联合仿真 ADAMS Matlab CMAC |
| 文章编号： | 1001-2257（2007）03-0058-03 |
| 修稿时间： | 2006-09-29 |
Study on the Control System Simulation of Hexapod Bio - robot |
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| WU Kun , LUO Qing - sheng , HAN Bao - ling, XU Jia , HUANG Lin.Study on the Control System Simulation of Hexapod Bio - robot[J].Machinery & Electronics,2007(3):58-60. |
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| Authors: | WU Kun LUO Qing - sheng HAN Bao - ling XU Jia HUANG Lin |
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| Affiliation: | 1. School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 ,China; 2. School of Mechanical and Vehicular Engineering, Beij ing Institute of Technology, Beijing 100081, China |
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| Abstract: | With both the ADAMS and Matlab, a simulation system is established. The control system of hexapod bio- robot is also simulated with a parallel control model, which is based on CMAC and PID. The results show that this method can improve the control and mechanical system design, and provide theoretical bases for robot control and performance improvement. The method offers a new way to the simulation of the control system of complex mechanism. |
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| Keywords: | hexapod bio - robot collaborative simulation ADAMS Matlab CMAC |
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