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ADAMS/MATLAB co-simulation: Dynamic systems analysis and control tool

Article  in  Applied Mechanics and Materials · November 2012

DOI: 10.4028/www.scientific.net/AMM.232.527

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Applied Mechanics and Materials Vol. 232 (2012) pp 527-531
© (2012) Trans Tech Publications, Switzerland
doi:10.4028/www.scientific.net/AMM.232.527

ADAMS/MATLAB CO-SIMULATION: Dynamic Systems Analysis and

Control Tool
L. Ángel, M. P. Pérez, C. Díaz-Quintero, C. Mendoza
Universidad Pontificia Bolivariana, Bucaramanga, Colombia
e-mail: (luis.angel, mary.perez, carlos.diazq)@upb.edu.co, cmendoza_poveda@hotmail.com

Keywords: Co-simulation, MATLAB, MSC Adams, robotics, modeling, control strategy.

Abstract.In this paper a dynamic simulation methodology of systems is presented by using

ADAMS/MATLAB co-simulation. This methodology allows simulation, development and
validation of different control strategiesfor robotic manipulator models in a fast way. It provides a
first stage into the design of robotic prototypes for researchers and professionals. Finally, the
methodology was validated by constructing a simulation model of a double pendulum and by
implementing a PD type control strategy.

Introduction
Simulation is an alternative to prototype design. It provides those processes with a great effectiveness
due to a significant reduction in costs and effective manufacture time management; raising the
productivity level, among other advantages.As a methodology tool, simulation provides a wide view
of a system behavior, enabling error detection, parameters optimization or analysis for testing
results.The systems reliability is measured through iterative trials.
It is possible to develop the mathematical model by analytic methods, but in certain cases albeit
there is a certain degree of complexity despite of the approximation process, thus simulation is
recommended as an easy way to test the system. Simulation models allow to verify or to establish
diverse features of the model such as: parameters, weight, dimensions, paths, acceleration, velocity,
angles, workspace, range and limits measurement. The use of models simulation is a key asset inside
this methodology. There is software available specialized on themodeling ofrobotic manipulators as
ANSYS, FREECAD, CATIA, ADAMS and others.
In this paper a co-simulation methodology is presented for a planar robot with two degrees of
freedom using ADAMS/MATLAB.Co-simulation is the cooperation of informatics applications in
respect to the shortcomings from one of those applications in a specific circumstance. ADAMS
allows creating parts to model mechanical systems, to modify systems parameters and to write the
codes necessary to the proper functioning and analysis of the system. Once the simulation model of
the system is built, different control strategies can be implemented by using MATLAB. Some of
co-simulation applications used within the industry can be found in [1-7].
This paper aims to highlight co-simulation importance in robotic prototype research, design and
manufacture, which offers automation alternatives for national industry. Furthermore, this paper
offers students and professionals a design alternative within the evolution of the up-coming projects.
This way, showing that co-simulation is a basic and friendly tool for future researchers, which will be
able to expand their knowledge in control, robotics and mechanical design areas amongst others. In
the next pages an example of a pendulum system with two degrees of freedom will be show, in which
the following steps will be observed: design, simulation, co-simulation and the different PD control
strategies that were implemented.

Pendulum System
The example is based in a manipulator with two degrees of freedom. The kinematic models of the
robot, the implemented control strategy and the results obtained for different spatial points will be
presented. The goal of this example is to show how to perform a dynamic system co-simulation and

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528 Mechanical and Aerospace Engineering

control response but it will not emphasize design and systems behavior. For detailed information on
technical aspects on design and controllers validation, refer to [8].

Mechanical Structure
The robot is a planar manipulator with two degrees of freedom. Links are assembled through a
rotational shaft and driven by motors, generating motion as described by angles and , as shown
in Fig. 1a. Simulation model of it mechanical structure is shown in Fig. 1b and the mechanical
features are specified in Table 1.

a) b)

Fig. 1.Double pendulum: a) Mechanical structure; b) ADAMS simulation model.

Table 1 Robot Mechanical Features

Link Weight (Kg) Length(cm) Width(cm) Deep (cm) Material
1 1.054 45 4 2 Aluminum
2 1.054 45 4 2 Aluminum

Kinematic Model
One of the main goals in positioning control is to program the robot to perform a motion from an
initial position to a final position within its workspace. In order to guarantee that motion of robot is
smooth and continuous during motor acceleration and deceleration stages, it is necessary to
implement a trajectory planner, which takes into account the kinematic model of the robot.
Trajectory plannersestablish the path to be followed by final effector in order to reach the desired
spatial position. To generate final effector displacement it is necessary to take into account it’s
velocity and acceleration. The function representing spatial position of robot in any time is composed
by three sections represented by a 6-1-6 polynomial [10]. Kinematic models link spatial position
(x,y,z) and joint position of the robot ( , ), without take into account the forces which produce
motion.The direct kinematic model for the robot is given by the following expressions:
= cos + cos − (1)
= sin + sin − (2)
= 0 (3)
where,l and are lengths of links and , are joint positions.
The inversekinematic model is given by:

= 2 , − 2 − (4)
= 2 , (5)
where,
!" !
= and = ±$1 − (6)
!" !
 Applied Mechanics and Materials Vol. 232 529

Dynamic Model
The dynamic model for a manipulator with n degrees of freedom is given by [9]:

&=' ( +) , * * + , * (7)

where,&is torque performed by each joint actuator, qis joint vector, ' is inertia matrix, ) , * is
Coriolis and centrifugal matrix, + is gravity vector, and, * is residual dynamics.
For this example, the manipulator has the following dynamic model [8]:

/0 0 0 20 cos 1 / 0 2 0 1
' . 3 (8)
/ 0 cos 0 1 0

20 sen * 0 sen 2 * *
) , * 4 6
0 sen * 0
(9)

/0 0 1+ 2 0 + 2
+ 4 6 (10)
0 + 2

Control Strategy
Fig. 2 shows the control strategies implemented,a) is a PD control and b) is a PD control with gravity
compensation [9]. The ROBOT block corresponds to the dynamic simulation model built in
ADAMS. The controller input signals are: current joint position and desired joint position as well as
current and desired joint velocity. The desired position and velocity input signals are given by the
trajectory planner, feedback signals of current position and velocity are given by the simulation
model.The control action corresponds to the torque that is required to develop the motion of the
mechanical structure of robot.The motors located in each joint generate torque in the system.Kp and
Kv are 2x2 design matrix, called proportional and derivative gains, these are symmetric and positive
matrices.In the control strategy that uses PD controller with gravity compensation, + block is the
gravity vector from the dynamic model of robot (Eq.10).

a) b)
Fig. 2. Control strategies: a) PD controller; b) PD controller with gravity compensation.

The Co-simulation model developed for position control of the simulation model is shown in Fig.
3. In this diagram, the main blocks are: Finalposition,desired final position for the effector. As initial
position it is assumed the equilibrium point of the system.Planner develops the function of the
trajectory planner. PDControl implements control strategy.Motor_1 and Motor_2, correspond to
each joint motor’s dynamic models. Adams_sub: ADAMS exported simulation model.Gravity
vector, vector given by Eq. 10.
530 Mechanical and Aerospace Engineering

Fig. 3. Simulink control scheme.

Test
The results of the test that are shown next, correspond to positioning task of the final effector for a
given spatial position, assuming that the initial spatial position is given by 0, . The Kp
and Kv matrices are defined by:

450 0 18 0
78 9 < and 7? 9 <
0 150 0 7

The desired spatial position is (636.4,-636.4) mm, which corresponds to a desired joint position for
45°and 0°. Fig. 4 shows generated torque for each joint. Fig. 4a shows torque when PD
controller is used, and Fig. 4b shows torque when PD controller with gravity compensation is used.
The highest value of torque is generated by joint 1 motor; this is a result that was expected, since this
motor moves the combined weight of links 1 and 2. The torque through link 2 has a small value, but is
enough to keep the link 2 in the desired position. The perturbation generated when the motion begins,
is due to the torque generated by the motors when they break the inertia of each link.In Fig. 4b is
possible to observe the positive effect when gravity compensation is added to the controller.

a) b)
Fig. 4.Torque generated by motors during the motion in test: a) PD controller, b) PD controller with
gravity compensation.
 Applied Mechanics and Materials Vol. 232 531

Conclusions
This paper provides a general vision of ADAMS software as a proper tool for dynamic prototype
design, as well as to be implemented in co-simulation with MATLAB software in order to develop
control strategies. Co-simulation is used in resent studies of great relevance. It opens doors to new
projects and improvements in research and in academic stances. It can be used in virtual learning
environments or as a complement in areas such as: electronics, mechanics, robotics and mechatronics
among others.

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