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应用机械系统动力学分析仿真软件AD-AMS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。
The interactive simulation system was established by using mechanical system dynamics simulation software AD-AMS and Matlab, and the combined simulation of motion control system of biomimetic hexapod robot was implemented by CMAC and PID compound control method. The simulation results show that the simulation method can effectively improve the design efficiency of the control system and mechanical system, and provide a theoretical basis for the realization of robot control and performance improvement. The co-simulation approach also provides a new avenue for control simulation of complex mechanical systems.