Application of ADAMS User-Written Subroutine to Simulation of Multi-gait for Spherical Robot

Considering the complexity of robot structure and the influence of experimental environment, an Adams and C-based method for multi-step joint simulation of robots was proposed. It is of great significance to the verification control program. Unlike the joint simulation of Adams and MATLAB, the simulation method does not need to build Simulink block diagram and only bases on the programs. After completing the establishment of Adams mechanical motion model, the user subroutine can be written on the basis of the previous control program, and the interface call can be realized. The simulation results show the effectiveness and accuracy of the scheme. In addition, a gait experiment was performed on the robot. It is concluded that the simulation results can present the real situation well.