An ADAMS-SIMULINK Approach for Development of Manipulator Position Controller

The paper presents an overall and clear approach for the development of manipulator controller using co-simulation technique. It works on a 3DOF manipulator to develop and verify position controller based on ADMAS and SIMULINK. After kinematics and dynamics modeling, PD plus Gravity Compensation(PD+G) control strategy is taken, the work is carried out and verified via co-simulation, the simulation results and analysis show that the paper’s work scheme is practical and can be applied to other control strategies.