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Dynamic modeling and kinematic simulation of Stäubli© TX40 robot using MATLAB/ADAMS co-simulation

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4 Author(s)
Cheraghpour, F. ; Pardis Branch, Dept. of Mech. Eng., Islamic Azad Univ., Pardis, Iran ; Vaezi, M. ; Jazeh, H.E.S. ; Moosavian, S.A.A.

This paper presents dynamic modeling and simulation of the industrial robot, Stäubli TX40, and proposes a precise simulator to develop approaches for experimental simulation in kinematics, dynamics and control analysis. The robot model has been developed as accurate as the real one by implementing dynamic model of robot in ADAMS, dynamic modeling software, and also linking with MATLAB for motion studies. Finally the simulator is verified by tracking a predefined pose with minimum error.

Published in:

Mechatronics (ICM), 2011 IEEE International Conference on

Date of Conference:

13-15 April 2011