Trajectory Simulation for a Robotic Platform Using a Virtual Prototype and a Python–Adams Interface

Simulation of a robotic mobile platform using Matlab Simulink and Adams View software is considered. MSC Adams software is used to create a virtual prototype of the Gough–Stewart platform in the form of a parameterized model controlled by means of Python object-oriented programming language. The manipulator kinematics and the corresponding forces are determined as a function of the design features in combined Adams–Matlab simulation, by solving an inverse kinematic problem. In computer experiments, the structure is optimized and various trajectories are analyzed.