Co-simulation System for A Humanoid Robot Based on Pro/E ADAMS and MATLAB

摘要

This study describes the modeling and simulation methods for a humanoid robot. Firstly, the 3-D mechanical model of the humanoid robot is established using Pro/E, then, the established model is imported to the ADAMS, which is a useful software package for modeling and simulation of complex mechanical dynamic models. However it has some disadvantages with respect to the motion planning and controller-design. So, another software package, Matlab/Simulink, is used to make the controller-design and system analysis become easier and convenient. During the simulation, the designed joint angles are inputted to the platform, then ADAMS gains joint torques from motion controller, which is designed in MATLAB and then the robot performs the designed motions in ADAMS. The simulation and experimental results prove that the designed joint angle trajectories are followed well.