A co-simulation approach based on ADAMS-SIMULINK for development of manipulator position controller

The paper presents an overall and clear roadmap 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. PD+G control strategy is taken based on kinematics and dynamics modeling, the controller is designed and verified via co-simulation, the simulation results and analysis show that the paper´s work is practical and can be applied to other relevant control strategies.