成功解决Adams与MATLAB交互时Adams model file does not exist问题

最新推荐文章于 2023-06-16 12:45:18 发布

肥鼠路易

最新推荐文章于 2023-06-16 12:45:18 发布

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分类专栏：机器人动力学文章标签： Adams MATLAB

本文链接：https://blog.csdn.net/weixin_44991673/article/details/108501687

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在MATLAB Simulink中进行Adams仿真时遇到找不到Adams文件的问题，通过将MATLAB工作路径设置为Adams文件路径解决了此问题。文章描述了如何定义ADAMS/Control环境中的状态变量和执行器运动参数，并探讨了MATLAB与Adams的接口问题。通过修改输入值并转换角度单位，确保Adams模型正确计算输出位置。在Simulink中使用Mux和Demux块改善显示部分，以比较Adams输出和数学函数输出的差异。

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在这里插入图片描述错误提示检查路径问题，在Matlab Simulink仿真时找不到相应的Adams文件是因为当前MATLAB 路径没有在保存Adams文件的路径里面。

4 The ADAMS/Control environment

First,I follow TP1_AMORO,I have defined the state varibles.
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input q1,q2,and output x,y of the end-effector
They are defined like this:

I have done parameterizing the motion of the actuators.

For creation of the plant,I have the following figures.

5 Interfacing ADAMS with MATLAB

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It creates a .m file in the end.

I use MATLAB to open and run it.Then enter the command"adams_sys"

When I run simulink,it said that

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I have solved this problem by myself.When I rewrote the working path in the matlab as same as the adams file path,the error will be solved.

In the Simulink,I observed the result like this.(zoom in).To be honest,I am not sure the graph is right or not.In another word,I feel confused that how can I make a relationship between this graph and the mockup.Did I choose a marker which cannot represent the position of the end-effector?
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For 2R robot,the geometric equation is following,