CN101493855A - Real-time simulation system for under-driven double-feet walking robot - Google Patents
Real-time simulation system for under-driven double-feet walking robot Download PDFInfo
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Abstract
The invention relates to the field of simulation technology and provides and realizes a real-time simulation system of an under-actuated biped walking robot. The real-time simulation system consists of a plurality of basic platforms and mainly comprises a real-time control platform, a joint simulation platform and a mechanical-electrical integration system simulation platform. The real-time simulation system is characterized in that the real-time control platform is directly connected with a solid robot drive system to control the movement of the robot in real time, the real-time control platform is connected with the joint simulation platform and is capable of carrying out data transmission, the joint simulation platform is connected with the mechanical-electrical integration system simulation platform to complete real-time joint simulation analysis, and each platform consists of different functional modules which are connected by data link. Real-time control algorithm design, virtual prototype design of an under-actuated walking robot, controller design, real-time joint simulation and experimental result analysis can be performed based on the real-time simulation system, and the real-time simulation system completes various operation tasks by the man-machine interface.
Description
Technical field
What the present invention relates to is a kind of system of simulation technical field, particularly a kind of under-actuated bipod walking robot analogue system.Relate to fields such as machinery system dynamics analysis, Control Science and Engineering, virtual design and manufacturing, computer science and soft project, data processing, be mainly used in Design of Mechanical Structure, dynamic analysis, the control algolithm exploitation of owing to drive walking robot and reach robot is controlled and on-line debugging in real time.
Background technology
The development research of under-actuated bipod robot mainly contains the content of two aspects: control in real time and l-G simulation test.
Control is the working control of finishing the entity robot in real time, and record data, and emphasis is test adjustment and algorithm research.The main task of lack of driven robot control system is by to the control to each joint of robot, and then the attitude when realizing robot ambulation controls, make robot can be steadily, fast and walk.Control system has a variety of forms on instrument uses, and industrial computer is most convenient certainly for the development research of under-actuated bipod robot, because WINDOWS operating system is arranged, and exploitation Control Software and to carry out algorithm research more convenient.
Robot dynamics's emulation can dynamically predicting robot comparatively accurately, provide the analysis foundation to the Design of Mechanical Structure of robot, control algolithm exploitation and checking, with the actual robot processing and debugging mutually specific energy save cost of development, improve development efficiency.
Because the under-actuated bipod robot is a high-order, non-linear, cross coupling complicated Mechatronic Systems, is difficult to set up the explicit efficient mathematical model that can be used for dynamic analysis and motion planning.Along with the fast development of computing technique, can set up the three-dimensional entity model and the kinetic model of complex mechanical system with computer software, can finish virtual prototype modelling and Dynamic solving.Virtual Prototype Technique is called the mechanical system Dynamic Simulation Technology again, and its core is that mechanical system motion is learned and the dynamics simulation technology, for the robot simulation analysis brings very big convenience.
L-G simulation test is to set up robot virtual prototype model in system, CONTROLLER DESIGN, both have constituted the emulation platform of electro-mechanical system, by on platform, carrying out test adjustment repeatedly, obtain the control algolithm of under-actuated bipod walking robot, sum up the rule of under-actuated bipod walking robot operation.
At present, studying the various performances and the characteristics of robot by l-G simulation test, has been one of robot theoretical research indispensability method.Simultaneously, Simulation results also provides effective reference frame for making robot.Therefore, robot emulation system is conspicuous to value, meaning and the effect of theory and practice.For example analogue system is utilized the computing function and the visual means of computing machine, and dummy robot's dynamic perfromance helps the researchist to understand the form and the performance parameter of the work space of robot.Disclose kinematics, dynamics and the effective control algolithm etc. of robot, thereby solve the problem in robot design, manufacturing and operational process, accident and the unnecessary loss of avoiding the direct control entity to cause.
Find through literature search prior art, software and the platform that can finish described each functions of modules have a lot, or finish associative simulation and Real Time Control Function separately, but all there is not construction system, in operation, do not have the application's analogue system convenient, on function, do not have the application's analogue system comprehensive.Therefore, analogue system of exploitation purposes such as real-time control, simulation analysis of being used for under-actuated bipod walking robot are very important.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of real-time simulation system for under-driven double-feet walking robot is provided, make it can conveniently finish real-time control to under-actuated bipod walking robot, and the motion conditions of simulating actual under-actuated bipod walking robot, the movement mechanism of true reflection under-actuated bipod walking robot, can carry out design of Controller, the robot mechanism design is for aspects such as Design of Mechanical Structure, control algolithm research and global optimization in the development process.
The present invention is achieved by the following technical solutions, and accompanying drawings is as follows:
The present invention includes: total system has related to the entity robot system, has controlled platform, associative simulation platform, four major parts of electro-mechanical system emulation platform in real time, tetrameric annexation is consulted accompanying drawing 1, and the real-time simulation system for under-driven double-feet walking robot structure as shown in Figure 2.For analogue system, focus on real-time control platform, associative simulation platform, electromechanical integration development of Simulation System.
Described real-time control platform is divided into data acquisition module, Hardware drive module, OpenGL (Open GraphicsLibrary) image display module, real-time control algolithm module, human-computer interface module, data importing derivation module, associative simulation interface module again, described associative simulation platform comprises under-actuated bipod walking robot emulation module, data processing module, described electro-mechanical system emulation platform comprises controller simulation module, associative simulation control module, wherein:
The data acquisition module of described real-time control platform is realized obtaining entity under-actuated bipod walking robot sensing data;
The Hardware drive module of described real-time control platform realizes the driving to entity under-actuated bipod walking robot motion actuators;
Module is derived in the data importing of described real-time control platform, and the realization system controls the importing and the derivation of terrace part data in real time;
The OpenGL image display module of described real-time control platform is realized the synchronization map to entity under-actuated bipod walking robot motion state, and to the motion simulation of the gait data that imports;
The real-time control algolithm module of described real-time control platform realizes the real-time control algolithm design to under-actuated bipod walking robot;
The human-computer interface module of described real-time control platform realizes the man-machine interaction of control in real time to robot;
The associative simulation interface module of described real-time control platform realizes being connected between the control platform and associative simulation platform in real time;
The associative simulation control module of described associative simulation platform realizes human-computer interactive control and various operation to the under-actuated bipod walking robot associative simulation;
The data processing module of described associative simulation platform is realized the associating emulated data is handled and the drawing demonstration;
The virtual prototype simulation module of described electro-mechanical system emulation platform realizes the emulation to under-actuated bipod walking robot physical construction and dynamics;
The controller simulation module of described electro-mechanical system emulation platform realizes the emulation to the under-actuated bipod walking robot controller;
Adopt modularization on the total system structure, on realizing, reality merged the various software plateform system, mainly finish owing to drive the real-time control and the l-G simulation test of walking robot, control in real time mainly realizes by entity robot system and real-time control platform, controlling object is the entity robot, and controller is real-time control algolithm module; L-G simulation test is mainly realized by associative simulation platform and electro-mechanical system emulation platform, controlling object is the virtual prototype simulation module, controller is the controller simulation module, and software has the data transmission link layer, links to each other with other module by data link between each module.
Module is derived in the data acquisition module of described real-time control platform and data importing, described real-time simulation system for under-driven double-feet walking robot, it is characterized in that: module is derived in the data acquisition module of described real-time control platform and data importing, writing down time, the parameter information that real-time control algolithm is carried out in the control procedure in real time, the record basic setup can also the Load System setting, import data.Use the chained list technology, data to the uncertain experiment collection of quantity are carried out dynamic management and preservation, and by pointer linked list data is conducted interviews, make different control algolithms have identical input, output data form in form, for the data transmission of analogue system provides technical support; Data acquisition module directly links to each other together with the entity robot system, directly read a programming sign indicating number device, near sensor signals such as switches, and data importing derivation module is more independent, and only the test figure with needs saves as the file that needs, and comprises data file, CONFIG.SYS.Total system constitutes upward except entities software, the file that loads when also having a lot of the operation, mainly contain interface document, model file, controller file, data file, algorithm file, system configuration data file, emulated data file, dynamic link library etc., can directly open portion's file in the analogue system man-machine interface and edit, these files are that system management and simulation analysis design bring convenience.
The real-time control algolithm module of described real-time control platform, the control algolithm module structurally adopts the algorithm realization mechanism that can add and conveniently read in real time, be called the algorithm container, can conveniently revise and add the core control algolithm, only need during operation to select the control algolithm wanted, can also call extra algorithm dynamic link library at operation interface.The input quantity of control algolithm module comes from data acquisition module in real time.
The human-computer interface module of described real-time control platform, comprise real-time control operation, OpenGL graphic presentation parameter is provided with, the hardware parameter configuration, real time data shows, algorithm picks, Simulation Control, animation display, several most functions of model analysis, human-computer interface module is the operation core of total system, man-machine interface and other control console module in real time all are related, directly other modules are operated, during control in real time at first man-machine interface Hardware drive module is provided with, comprise the string slogan, baud rate, control card input amount signals collecting interface etc., then the OpenGL image display module is provided with, the robot running environment parameter that comprises graphic presentation, robot architecture's parameter and color, on Presentation Function, also do selection, comprise when robot motion's gait is unusual, when sole and slope interfere, animation display foot can change color, send caution to the user, man-machine interface can make one's options to a plurality of control algolithms of real-time control algolithm module, tests different control algolithms.
The Hardware drive module of described real-time control platform by the programming to hardware circuits such as robot drive motor control card and serial communication interfaces, realizes the control to topworkies such as motors.It is a series of for the hardware interface variable of revising that Hardware drive module provides, can make amendment by human-computer interface module docking port variable, be convenient to adapt to the change of hardware, after man-machine interface starts control in real time, system at first obtains the status data of robot by data acquisition module, data are sent to real-time control algolithm module, controlled after treatment output signal, be sent to Hardware drive module, finishing the driving to hardware, mainly is PWM (the Pulse Width Modulation) output duty cycle and the output start and stop of control card.
The OpenGL image display module of described real-time control platform, can map out robot motion's animation to this module input gait data, can be rotated 3-D display robot and environmental model, move, profile is adjusted and color is revised, robot ruuning situation to the gait data correspondence is carried out Direct observation, gait data comes from sensing data and simulation result data, data acquisition module and data importing derivation module by real-time control platform pass to the OpenGL image display module, this process does not need manual operation, as long as real-time control algolithm module operation, data can pass to the OpenGL image display module automatically.
The associative simulation interface module of described real-time control platform, as the coupling part between real-time control platform and the associative simulation platform, mainly finish data exchanging function, when real-time control platform needs the simulation analysis data, can import processing to data, when same associative simulation platform needs entity robot gait record data, also can change importing.
The associative simulation control module of described associative simulation platform is operated associative simulation multi-mode operation task, the start and stop of start-up control device design software platform, associative simulation, the processing and the display operation of data.The associative simulation control module of associative simulation platform is the operation core of associative simulation platform, the data processing module of direct control electro-mechanical system emulation platform and associative simulation platform, these operational design are to the data processing of Simulation Control and bottom, form with instruction is sent, comprise start-up control device emulation module, and detect and whether start success, just can carry out next step work after starting successfully, starting failure then gives a warning, start associative simulation, at this moment the bipod walking robot emulation module links to each other with the controller simulation module, and bottom software carries out derivation.
The data processing module of described associative simulation platform, be used for handling a lot of data that emulation provides, different software platforms can be realized the different disposal mode to data in system, can finish curve plotting, playback emulation animation, show performance graph synchronously, or the drawing interface designed, obtain GUI (the Graphical User Interface) interface of needs, the result that the robot electromechanical integration realistic model in the analogue system of data processing module is found the solution, or module is derived in the data acquisition module and the data importing that derive from real-time control platform.
The virtual prototype simulation module of described electro-mechanical system emulation platform and controller simulation module, these two modules are finished and are set up robot electromechanical integration realistic model, the controller simulation module mainly contains the controller that designs in simulation system software, the under-actuated bipod walking robot emulation module has the virtual prototype of robot, behind the start-up control device emulation module, in module, carry out design of Controller, the virtual prototype simulation module is the core of simulation analysis, it has comprised the mechanical configuration parameter of robot, robot motion's condition, environmental parameter, virtual prototype control input interface, information such as virtual prototype state output interface, these robot simulation model correlation parameters all exist with the form of tabulation, convenient modification during test, the design robot correlation parameter, preserve and promptly enter associative simulation, start associative simulation by the associative simulation control module, the data of controller simulation module can show curve in real time by oscillograph, comprise each joint angles of robot, certain part body running orbit, forces associated and moment, the user can oneself set, and the data of virtual prototype simulation module then are converted into the output of three-dimensional picture animation.The electro-mechanical system emulation platform is the integrated platform of software more than one, associative simulation is that software is united the process of finding the solution more than one in fact, it is with the control platform is different in real time, during operation except software itself, also need to call a lot of bottom-layer design files, as the most basic virtual prototype model file and controller file.
Compared with prior art, outstanding feature of the present invention is multiple functional and easy to operate, in the debug process of entity robot system, designs and develops in the process to play a significant role in control algolithm.Use real-time emulation system of the present invention, the control algolithm of system is revised convenient, and result data is handled conveniently, and synchronous OpenGL graphic animations demonstration makes the motion state of robot more directly perceived, can also reappear at any time.When using the present invention to carry out l-G simulation test, dummy robot's motion at any time, the debugging control algorithm improves physical construction, debugs in the entity robot and needn't adopt, and has saved time and manpower greatly, has improved work efficiency.
Description of drawings
Exploitation of Fig. 1 under-actuated bipod walking robot and operational system structural drawing;
Fig. 2 real-time simulation system for under-driven double-feet walking robot structural drawing;
Fig. 3 real-time simulation system for under-driven double-feet walking robot software platform structure and functional diagram;
Fig. 4 real-time control system structural drawing;
Fig. 5 OpenGL figure dynamically shows the shearing constitutional diagram;
The real-time display interface figure of Fig. 6 associative simulation;
Fig. 7 ADAMS emulation reprocessing analysis surface chart.
Embodiment
Below in conjunction with the accompanying drawing illustrated embodiment particular content of the present invention is described further:
Present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
The present invention is the system that under-actuated bipod walking robot is carried out emulation, and total system has related to the entity robot system, controlled platform, associative simulation platform, four major parts of electro-mechanical system emulation platform in real time, as attached illustrated in figures 1 and 2.Link to each other by the PC platform between the each several part function opposite independent, hardware and software, link to each other by data link between the software platform.
The research of under-actuated bipod walking robot is one and relates to multi-field comprehensive high-tech research that single research software platform has been difficult to satisfy application request.Many software associative simulation has obtained widespread use, and the speciality that makes full use of a plurality of softwares will bring convenience for simulation analysis, and the software platform of under-actuated bipod walking robot analogue system and each several part function are as shown in Figure 3.
Basic software platform with this analogue system of Visual C++ exploitation, called after PADW-JLU-SIM, control platform, associative simulation platform are the part of two function opposite independent of PADW-JLU-SIM in real time, have realized that by the PADW-JLU-SIM software platform many softwares merge.
Controller simulation functions of modules under the associative simulation platform realizes depending on the use of the MATLAB7.0 (Matrix Laboratory) to MathWorks company, based on MATLAB software can be in SIMULINK controller, robot theoretical model kinetics equation is found the solution and is set up, and watches result's GUI graphic presentation INTERFACE DESIGN in addition.
Virtual prototype simulation functions of modules under the associative simulation platform realizes mainly depending on the automatic analysis software ADAMS of machinery system dynamics (Automatic Dynamic Analysis of Mechanical Systems), and this software is the virtual prototyping dynamical analysis software of U.S. MDI company (Mechanical Dynamics Inc.) exploitation.
The embodiment of analogue system realization of the present invention to above-mentioned under-actuated bipod walking robot emulation below is provided.
Embodiment one
Present embodiment is used for under-actuated bipod walking robot is controlled in real time, and control algolithm is debugged, and related parts comprise entity robot, real-time control module.
The under-actuated bipod walking robot analogue system is finished real-time control to robot with real-time control module in the present embodiment, and the system construction drawing of realizing control in real time as shown in Figure 4.
In control and debugging experiment to the entity lack of driven robot, the design and the test data analyzer of control algolithm mainly carried out in test, algorithm is revised and is added and brings convenience to analysis, amending method is to open real-time control platform development code at the VC software platform, in real-time control algolithm module, add or the modification control algolithm, compiled code, controlled platform in real time, by human-computer interface module various parameters are set, comprise the algorithm selection, OpenGL graphic presentation is provided with, hardware interface is provided with, these are provided with the inner structure of direct modification correlation module, data are preserved and are imported module and finish the record gait data automatically after the emulation, the OpenGL image display module shows animation in real time, and display effect as shown in Figure 5; Manual debugging interfacial energy by human-computer interface module manually allows robot according to certain gait motion, the record gait data, and at this moment software serves as the gait data generator, and these gait datas can also be used in simulation analysis.
During the embodiment of the invention of above-mentioned experimental study was used, basic flow process was as follows:
The first step is opened real-time control platform development code at the VC software platform, adds in real-time control algolithm module or the modification control algolithm, and compiled code is controlled platform in real time.
Second step, open real-time control platform, software enters duty, with hand stationary machines people.
The 3rd step was provided with various parameters by human-computer interface module, comprised algorithm selection, OpenGL graphic presentation setting, hardware interface setting.
The 4th step, open the manual control panel of robot in human-computer interface module, regulate the original state of robot.
In the 5th step, letting go allows robot ambulation, the start and stop that control robot drives on man-machine interface in the operational process.
Embodiment two
Present embodiment is used for the associative simulation analysis to under-actuated bipod walking robot.Related parts comprise real-time control platform, associative simulation platform and electro-mechanical system emulation platform.
The application controller emulation module moves-Dynamic Modeling and numerical simulation to having kneed multiple degrees of freedom under-actuated bipod walking robot, utilize the attitude retrieving algorithm to rebuild the kinematics process of robot ambulation, this moment, controller simulation module numerical value solver was the calculating core of simulation software, be responsible for the dynamic equation of robot ambulation is found the solution, obtain the robot's gait data, the appliance computer communication interface realizes two-way communication and the control linkage with the robot prototype, human-computer interaction interface is responsible for receiving the simulation parameter setting, and to backstage mathematics solver transmission parameter and control command, and the demonstration simulation result, the OpenGL image display module is finished the 3D flash demo of robot ambulation synchronously.Human-computer interaction interface can carry out the setting of simulation parameter, robot model's parameter, Show Color, hardware interface etc.; Can finish various parameter modifications; Can finish robot simulation control, when giving birth to and interfere (gait that contact with ground not to) as human hair combing waste, pin can change color, and can also select the pin interference is to halt; Actual robot control and debugging, motion that can also manual control machine device people.
During the embodiment of the invention of above-mentioned experimental study was used, basic flow process was as follows:
The first step is opened real-time control platform, enters duty.
Second step, open the associative simulation platform, by the controller simulation module of the electrical integrated system simulation platform of associative simulation platform starter motor, then can also test startup, starts successfully after, move the gait solving equation, obtain gait data.
The 3rd step, control platform in real time and import gait data automatically, start emulation, obtain OpenGL graphic presentation animation, the motion gait of observation analysis robot.
Embodiment three
Present embodiment is used for the associative simulation analysis to under-actuated bipod walking robot.Related parts comprise associative simulation platform and electro-mechanical system emulation platform.
In the virtual prototype simulation module of electro-mechanical system emulation platform, robot virtual prototype model is carried out parameter matching and adjustment, CONTROLLER DESIGN in the controller simulation module, the form of controller is various, the controller output quantity obtains by algorithm computation, form closed-loop control, but also can be the gait data that directly imports by controller, at this moment be open loop control.Controller emulation module and virtual prototype simulation module are worked simultaneously during associative simulation, and the real time data transmission is arranged between this, work in coordination with and finish Dynamic solving and controller response output.Carry out associative simulation, realize mechanism design and dynamic analysis,, thereby carry out parameter optimization and controlling Design through repetition test, the movement mechanism of analysis robot.
During the embodiment of the invention of above-mentioned experimental study was used, basic flow process was as follows:
At first be to open the associative simulation platform, enter duty.
Whether in second step, the associative simulation control module of the electrical integrated system simulation platform of user's starter motor is then opened the controller simulation module, can also test startup, check successfully to start, can be to the controller design of making amendment after starting successfully.
In the 3rd step, by the pushbutton enable associative simulation on the associative simulation control module of associative simulation platform, the associative simulation effect as shown in Figure 6.
The 4th step, the virtual prototype simulation module of the electrical integrated system simulation platform of starter motor, import virtual prototype, carry out robot parameter setting, the user is provided with robot relevant parameters and environmental information on the graphic interface in the virtual prototype simulation module, setting is finished and is preserved the virtual prototype model, gets back to the operation in the 3rd step then and carries out the associative simulation test.
In the 5th step, click data treatment button after associative simulation is finished is called GUI graphic presentation interface and is watched the result.
In the 6th step, can carry out the playback analysis to emulation by data after the emulation, as shown in Figure 7.
Claims (10)
1, a kind of real-time simulation system for under-driven double-feet walking robot, it is characterized in that: comprise real-time control platform, associative simulation platform and electro-mechanical system emulation platform, described real-time control platform is divided into data acquisition module again, Hardware drive module, OpenGL (Open Graphics Library) image display module, real-time control algolithm module, human-computer interface module, module is derived in data importing, the associative simulation interface module, described associative simulation platform comprises the associative simulation control module, data processing module, described electro-mechanical system emulation platform comprises the controller simulation module, the virtual prototype simulation module, wherein:
The data acquisition module of described real-time control platform is realized obtaining entity under-actuated bipod walking robot sensing data;
The Hardware drive module of described real-time control platform realizes the driving to entity under-actuated bipod walking robot motion actuators;
Module is derived in the data importing of described real-time control platform, and the realization system controls the importing and the derivation of terrace part data in real time;
The OpenGL image display module of described real-time control platform is realized the synchronization map to entity under-actuated bipod walking robot motion state, and to the motion simulation of the gait data that imports;
The real-time control algolithm module of described real-time control platform realizes the real-time control algolithm design to under-actuated bipod walking robot;
The human-computer interface module of described real-time control platform realizes the man-machine interaction of control in real time to robot;
The associative simulation interface module of described real-time control platform realizes being connected between the control platform and associative simulation platform in real time;
The associative simulation control module of described associative simulation platform realizes human-computer interactive control and various operation to the under-actuated bipod walking robot associative simulation;
The data processing module of described associative simulation platform is realized the associating emulated data is handled and the drawing demonstration;
The virtual prototype simulation module of described electro-mechanical system emulation platform realizes the emulation to under-actuated bipod walking robot physical construction and dynamics;
The controller simulation module of described electro-mechanical system emulation platform realizes the emulation to the under-actuated bipod walking robot controller;
Adopt modularization on the total system structure, on realizing, reality merged the various software plateform system, mainly finish owing to drive the real-time control and the l-G simulation test of walking robot, control in real time mainly realizes by entity robot system and real-time control platform, controlling object is the entity robot, and controller is real-time control algolithm module; L-G simulation test is mainly realized by associative simulation platform and electro-mechanical system emulation platform, controlling object is the virtual prototype simulation module, controller is the controller simulation module, and software has the data transmission link layer, links to each other with other module by data link between each module.
2, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: module is derived in the data acquisition module of described real-time control platform and data importing, writing down time, the parameter information that real-time control algolithm is carried out in the control procedure in real time, the record basic setup can also the Load System setting, import data.Use the chained list technology, data to the uncertain experiment collection of quantity are carried out dynamic management and preservation, and linked list data is conducted interviews by pointer, make different control algolithms have identical input, output data form in form, for the data data transmission of analogue system provides technical support; Data acquisition module directly links to each other together with the entity robot system, directly read a programming sign indicating number device, near sensor signals such as switches, and data importing derivation module is more independent, and only the test figure with needs saves as the file that needs, and comprises data file, CONFIG.SYS.
3, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the real-time control algolithm module of described real-time control platform, structurally adopt the algorithm realization mechanism that can add and conveniently read, be called the algorithm container, the convenient modification and interpolation core control algolithm, only need during operation to select the control algolithm wanted at operation interface, can also call extra algorithm dynamic link library, the input quantity of control algolithm module comes from data acquisition module in real time.
4, under-actuated bipod walking robot analogue system according to claim 1, it is characterized in that: the human-computer interface module of described real-time control platform, comprise real-time control operation, OpenGL graphic presentation parameter is provided with, the hardware parameter configuration, real time data shows, algorithm picks, Simulation Control, animation display, several most functions of model analysis, human-computer interface module is the operation core of total system, man-machine interface and other control console module in real time all are related, directly other modules are operated, during control in real time at first man-machine interface Hardware drive module is provided with, comprise the string slogan, baud rate, control card input amount signals collecting interface etc., then the OpenGL image display module is provided with, the robot running environment parameter that comprises graphic presentation, robot architecture's parameter and color, on Presentation Function, also do selection, comprise when robot motion's gait is unusual, when sole and slope interfere, animation display foot can change color, send caution to the user, man-machine interface can make one's options to a plurality of control algolithms of real-time control algolithm module, tests different control algolithms.
5, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the Hardware drive module of described real-time control platform, by programming to hardware circuits such as robot drive motor control card and serial communication interfaces, realization is to the control of topworkies such as motor, it is a series of for the hardware interface variable of revising that Hardware drive module provides, can make amendment by human-computer interface module docking port variable, be convenient to adapt to the change of hardware, after man-machine interface starts control in real time, system at first obtains the status data of robot by data acquisition module, data are sent to real-time control algolithm module, controlled after treatment output signal, be sent to Hardware drive module, finishing the driving to hardware, mainly is PWM (the Pulse Width Modulation) output duty cycle and the output start and stop of control card.
6, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the OpenGL image display module of described real-time control platform, can map out robot motion's animation to this module input gait data, can be rotated 3-D display robot and environmental model, move, profile is adjusted and color is revised, robot ruuning situation to the gait data correspondence is carried out Direct observation, gait data comes from sensing data and simulation result data, data acquisition module and data importing derivation module by real-time control platform pass to the OpenGL image display module, this process does not need manual operation, as long as real-time control algolithm module operation, data can pass to the OpenGL image display module automatically.
7, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the associative simulation interface module of described real-time control platform, as the coupling part between real-time control platform and the associative simulation platform, mainly finish data exchanging function, when real-time control platform needs the simulation analysis data, data are imported processing, when same associative simulation platform needs entity robot gait record data, also can change importing.
8, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the associative simulation control module of described associative simulation platform, associative simulation multi-mode operation task is operated, start-up control device design software platform, the start and stop of associative simulation, the processing of data and display operation, the data processing module of associative simulation control module direct control electro-mechanical system emulation platform and associative simulation platform, these operational design are to the data processing of Simulation Control and bottom, form with instruction is sent, comprise start-up control device emulation module, and detect and whether start success, just can carry out next step work after starting successfully, starting failure then gives a warning, start associative simulation, at this moment the bipod walking robot emulation module links to each other with the controller simulation module, and bottom software carries out derivation.
9, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the data processing module of described associative simulation platform, be used for handling a lot of data that emulation provides, different software platforms can be realized the different disposal mode to data in system, can finish curve plotting, playback emulation animation, show performance graph synchronously, or the drawing interface designed, obtain GUI (the Graphical User Interface) interface of needs, the result that the robot electromechanical integration realistic model in the analogue system of data processing module is found the solution, or module is derived in the data acquisition module and the data importing that derive from real-time control platform.
10, real-time simulation system for under-driven double-feet walking robot according to claim 1, it is characterized in that: the virtual prototype simulation module of described electro-mechanical system emulation platform and controller simulation module, these two modules are finished and are set up robot electromechanical integration realistic model, the controller simulation module mainly contains the controller that designs in simulation system software, the under-actuated bipod walking robot emulation module has the virtual prototype of robot, behind the start-up control device emulation module, in module, carry out design of Controller, the virtual prototype simulation module is the core of simulation analysis, it has comprised the mechanical configuration parameter of robot, robot motion's condition, environmental parameter, virtual prototype control input interface, information such as virtual prototype state output interface, these robot simulation model correlation parameters all exist with the form of tabulation, convenient modification during test, the design robot correlation parameter, preserve and promptly enter associative simulation, start associative simulation by the associative simulation control module, the data of controller simulation module can show curve in real time by oscillograph, comprise each joint angles of robot, certain part body running orbit, forces associated and moment, the user can oneself set, and the data of virtual prototype simulation module then are converted into the output of three-dimensional picture animation.
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