Co-Simulation and Comparative Control Analysis of a 3-DOF Serial Manipulator Using MSC ADAMS and MATLAB

Abstract This paper presents a comprehensive co-simulation methodology for the modeling, control, and performance analysis of a planar 3-degree-of-freedom (DOF) serial manipulator. The study leverages the integrated capabilities of MSC ADAMS for high-fidelity multi-body dynamic modeling and MATLAB/Simulink for advanced control system design. A complete kinematic model is derived using the Denavit-Hartenberg convention, and the dynamic equations of motion are formulated via the Lagrangian method, explicitly accounting for inertial coupling and nonlinear Coriolis and centrifugal effects. The core investigation involves the design and comparative evaluation of two control strategies: a conventional Proportional-Integral-Derivative (PID) controller and an adaptive Fuzzy-PID controller that employs fuzzy logic for real-time gain scheduling. A robust co-simulation framework is established by exporting the ADAMS mechanical model as a plant into Simulink via the ADAMS/Control interface. Simulation results demonstrate the superior efficacy of the Fuzzy-PID controller, which achieves a 67% reduction in joint tracking error, a 78% decrease in overshoot, and a 64% average improvement in settling time compared to the fixed-gain PID controller. End-effector positioning accuracy was maintained within ± 0.25 mm. The study validates the theoretical models and underscores the significant advantages of virtual prototyping, including reduced development costs, accelerated design cycles, and enhanced system optimization.