Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program

Abstract

The ADAMS (Automatic Dynamic Analysis of Mechanical Systems) [3] is used to determine the laws of motion for the actuators of industrial robots when a continuous path and orientation for the gripper is prescribed. Simultaneously the dynamic loads in the system are determined. The results for a six degrees of freedom robot are described in animated form. The three-dimenional frames used in animation are colored and are completely computer generated.

Design of parallel kinematic systems using the planar enveloping algorithm and ADAMS computer program

“…U, universal joint; S, spherical joint; T, translational joint; R, revolute joint (17) into the set of coordinates required by the actuators. This is done by the ADAMS computer program with an inverse kinematic analysis [5]. The four degrees of freedom determined by equation (17) are conventionally denoted q 1 , q 2 , q 3 and q 4 , as shown in Fig.…”

Real-Time Dynamics of Manipulation Robots

“…In on-line control, the calculation of model equations must be repeated very frequently, preferably at sampling frequency which is not lower than 50 Hz, since the resonance frequency of most mechanical manipulators is about 10 Hz. However, the problem of solving the dynamic equations of manipulators in real time, i.e.…”

A robot kinematics simulation system based on OpenGL

“…[1] SAMMIE modeled robot with wire frames, and robot can move in pointto-point mode or along continuous trajectory. Since then, many research institutions do a lot of work on robot simulation, such as DYNAMAN (Maryland University) [2], ADAMS (Michigan University) [3] and ROBCAD (Tecnomatix Inc.). Many famous robot companies such as KUKA, ABB and KAWASAKI developed simulation systems for their own products.…”

“…// Record teaching times i++; // Record teaching velocity m_VR[i][1]=m_VR1; m_VR[i][2]=m_VR2; m_VR[i][3]=m_VR3; // Record teaching position m_R[i][1]=m_R1; m_R[i][2]=m_R2; m_R[i][3]=m_R3; B. C++ code for playback if(flag) { // Record playback velocity //Judge playback position while(flag&&((fabs(m_R1-m_R[j][1])<1)&&(fabs(m_R2-m_R[j][2])<1)&&(fabs(m_R3-m_R[j][3])<1))) {// Pause while playback position overlay…”