基于ADAMS的串联机器人运动学反解与动力学优化

利用矩阵计算来研究多轴串联机器人的运动学与动力学的方法应用普遍，但是工作量大且容易出错。一种简单的方法是利用ADAMS仿真软件解决此类问题。利用一般点驱动设定机器人末端的运动轨迹，得出驱动轴的运动曲线，然后利用ADAMS／Processor对所测量得到的曲线进行拟合，从而得到运动学反解。通过仿真曲线，还可了解各主动轴其他运动学及动力学性能，为机器人的动力学性能优化与运动控制提供参考数据。

Inverse Kinematics and Dynamics Optimisation Analysis of an Articulated Robot with ADAMS

It is a common way to study kinematics and dynamics of multi-axis articulated robot with matrix operation, but it's a time consuming work and often get mistakes. An easy way is using the simulation software ADAMS. A General Point Motion was added to the tip of the robot model to define the tool path. Movement curves of the driven joints were obtained with measurement tools, and then were transformed into data element splines in ADAMS/Processor. Moreover, kinematic performances and dynamic performances of each driven joint can be learnt from simulation plots, which provide reference for the dynamic optimisation and movement control.