ADAMS环境下工业机器人运动控制

西南交通大学本科毕业设计（论文）第Ⅲ页AbstractBefore manufacturing the first physical prototype,the designers used computertechnology to build a mechanical system of digital model for analysis simulation,whichshowed that the system works in real conditions of the various characteristics,so as to berevised and Optimal design.This process is called Virtual prototyping technology.Now ADAMS software is widely used in virtual prototyping analysis in the world,itis very convenient for the user to use this software ot do the statics,kinematics anddynamics analysis for the virtual machine system.But to the complicated robotmechanical system,it is also very hard to do the accurate control of its movement onlyrely on ADAMS software itself ;MATLAB is one of the outstanding mathematicsapplication software integrating calculation,graphical visualization and editing functionsdeveloped by the Mathworks company and it has strong ability in complex calculation,being able to create the control model to do accurate control of the robot system'scomplicated movement.OpenGL(the full name of Open graphics libraries)is a 3Dgraphics Application Programming Interface in the bottom,now having been the industrystandard in the area of graphics developing.You can create delicate and beautiful 3Dgraphics using OpenGL,whose visual quality is close to ray tracing program.Visual C++6.0 has become powerful integrated programming environment with editing,compiling.Operating and debugging,and occupies an important position in the Windowsprogramming.Visual C++6.0 and OpenGL has close interface,using them we candevelop good endoscopic simulation system.Because of the different due,ADAMS,Visual C++6.0 and MATLAB have their own respective advantages and disadvantages,but we can also do the joint control or mixing programming through the interfacebetween the three.In this paper,the author do research tokinematics and trackoptimization scheme of 3-dof robot based on ADAMS,also do the Visual simulationresearch of 3-dof robot using the data of the control model derived from the MATLABbased on Visual C++6.0 and OpenGL.First of all,through the establishment of coordinates and matrix transformation,therigid body of the space that was elaborated,and then use the D-H rule,Robot parametersof the joint were gained,equations of motion were given,and the joints angle wereknown,initial coordinates of Robot hand can be calculated.Followed by ADAMS