CN103832504A - Bionic foot-type robot comprehensive simulation strategy - Google Patents
Bionic foot-type robot comprehensive simulation strategy Download PDFInfo
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Abstract
The invention discloses a bionic foot-type robot comprehensive simulation strategy, and belongs to the field of robot technology application. According to the bionic foot-type robot comprehensive simulation strategy, an adopted system comprises a Matlab/Simulink-based bionic foot-type robot control model (A), a Matlab/SimMechanics-based bionic foot-type robot kinematical simulation model (B), an ADAMS-based bionic foot-type robot dynamical model (C) and a bionic foot-type robot experimental prototype (D). The comprehensive simulation strategy comprises a real-time kinematical and dynamical demonstration method for the motion state of the robot experimental prototype, a real-time motion control method, used after simulation verification is generated according to robot gaits, for the robot experimental prototype, a self-learning adjusting method for robot virtual joint simulation and semi-physical simulation, and a robot self-adaptability multi-coordination control method. The bionic foot-type robot comprehensive simulation strategy has the advantages of being low in cost and multifunctional, basically meets the requirement for simulation debugging of a traditional bionic foot-type robot, and has the certain general applicability.
Description
Technical field
The invention belongs to Robotics application, be specifically related to a kind of bionical legged type robot comprehensive simulating strategy based on Matlab, ADAMS and half associative simulation in kind, be mainly used in bionical legged type robot motion demonstrating, gait generation, self study and coordinate more and control.
Background technology
Bionical legged type robot is current robot research field one of the problem in forward position the most, it integrates the multi-door subjects such as machinery, electronics, computing machine, material, sensor, control technology and artificial intelligence, a national intellectuality and automation research level are reflected, also as the important symbol of a national high-tech strength, each developed country in succession drops into huge fund in this field and conducts a research simultaneously.
Bionical legged type robot has more standby superior locomotivity than wheeled, caterpillar type robot, can adapt to non-structure natural environment requirement complicated and changeable.Because it possesses more joint freedom degrees, also make the bionical legged type robot of debugging control have more difficulty.Conventionally adopt dummy emulation method as Robot Design Qualify Phase in early stage, when the biped robot's modeling and simulation based on ADAMS (" Computer Simulation " the 5th phase in 2010) delivered as people such as Liang Qing, later stage debugging, can adopt HWIL simulation board (as dSPACE semi-physical emulation platform) to carry out half debugging in kind, as the people such as Li Xuejun deliver based on dSPACE Design of Hardware (" Changchun University's journal " 2011 year 06 phase).
Because there is its merits and faults separately in each simulation software, also have and adopt 2 simulation softwares to carry out associative simulation (as the imitative crab robot that the people such as Liu little Cheng deliver is analyzed (" microcomputer information " the 14th phase in 2010) based on MATLAB and ADAMS monopodia associative simulation), but pure virtual associative simulation result often differs larger with actual experiment data, does not have certain actual directive significance; The single HWIL simulation based on HWIL simulation board, not only depend on existing high-tech integrated hardware and software (expense is higher, to drawbacks such as bionical legged type robot motion control debugging comformability are not strong), and unsuitable compatible with other virtual emulation softwares.
For above situation, the present invention proposes a kind of based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that the advantage of utilizing various virtual emulation software to be good at divides the work associative simulation, use bionical legged type robot model machine wireless launcher and computer controlled platform and carry out Wireless Data Transmission, really bring into play Matlab, the advantage of ADAMS and half associative simulation in kind, can realize the several functions of bionical legged type robot motion debugging, specifically comprise: bionical legged type robot motion demonstrating, gait generates, self study and coordinate are controlled more.
Based on bionical legged type robot motion demonstrating, gait generation, self study and many coordination control strategies of Matlab, ADAMS and half associative simulation in kind, the multi-functional debug strategy of collection has been proposed innovatively, for bionical legged type robot full movement control debugging provides new thinking and method, there is very important theory significance and practical value.
Summary of the invention
The object of the present invention is to provide a kind of bionical legged type robot comprehensive simulating strategy based on Matlab, ADAMS and half associative simulation in kind.
Based on a bionical legged type robot comprehensive simulating strategy for Matlab, ADAMS and half associative simulation in kind, it is characterized in that:
System for use in carrying comprises: based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model, based on the bionical legged type robot kinetic model of ADAMS, bionical legged type robot experimental prototype.
Described strategy comprises the state of kinematic motion Real Time Kinematic presentation process of robot experimental prototype, concrete mode: bionical legged type robot experimental prototype wireless transmission interface machine people's environment sensing and real time kinematics feedback data are to based in the bionical legged type robot control of Matlab/Simulink model, transmit sufficient end motion track and gait parameter to based in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, and in Matlab/SimMechanics, there is relevant kinematics of mechanism flash demo function, the kinestate of display device people experimental prototype in real time, relevant joint motions track and gait data are transferred to based in the bionical legged type robot control of Matlab/Simulink model, carrying out kinematics data gathers and preserves,
Described strategy comprises robot experimental prototype state of kinematic motion Real-time dynamics presentation process, concrete mode: bionical legged type robot experimental prototype wireless transmission interface machine people's environment sensing and real time kinematics feedback data are to based in the bionical legged type robot control of Matlab/Simulink model, be transferred to based in the bionical legged type robot kinetic model of ADAMS based on the bionical legged type robot control of Matlab/Simulink model transmitting moving gait and attitude data, and in ADAMS, there is relevant mechanism dynamic flash demo function, the dynamics data of display device people experimental prototype in real time, relevant Dynamic Co-Simulation output data are to based in the bionical legged type robot control of Matlab/Simulink model, carrying out dynamics data gathers and preserves,
Described strategy comprises the pure virtual Union Movement simulation process of robot, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot control of Matlab/Simulink model, motion gait and attitude data are sent to the bionical legged type robot kinetic model based on ADAMS, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model, complete the Union Movement emulation of Matlab/SimMechanics and ADAMS,
Described strategy comprises that robot gait generates, the real time kinematics control process of robot experimental prototype, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot control of Matlab/Simulink model, robot motion's gait data bag and coordination control command parameter are wirelessly sent to bionical legged type robot experimental prototype, complete by data real time control machine device people experimental prototype after the generation of Matlab/SimMechanics gait and moved,
Described strategy comprises that robot gait generates, the real time kinematics control process of the robot experimental prototype after simulating, verifying, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model, motion gait and attitude data are sent to the bionical legged type robot kinetic model based on ADAMS, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model, complete the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS, again robot motion's gait data bag and coordination control command parameter are wirelessly sent to bionical legged type robot experimental prototype, complete by data real time control machine device people experimental prototype after the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS and moved, realize more accurately the motion control of robot experimental prototype,
Described strategy comprises Robot Virtual associative simulation self study adjustment process, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot control of Matlab/Simulink model, motion gait and attitude data are sent to the bionical legged type robot kinetic model based on ADAMS, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model, complete the Union Movement emulation of Matlab/SimMechanics and ADAMS, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model, carry out continuous circulation emulation, finally realize virtual associative simulation self study adjustment, for data-optimized and adaptive control provide foundation,
Described strategy comprises robot HWIL simulation self study adjustment process, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot control of Matlab/Simulink model, robot motion's gait data bag and coordination control command parameter are sent to bionical legged type robot experimental prototype, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, complete the Union Movement emulation of Matlab/SimMechanics and half full-scale investigation model machine, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model, carry out continuous circulation HWIL simulation, finally realize the self study adjustment under half associative simulation in kind, for data-optimized and adaptive control provide foundation,
Described strategy comprises that robot self adaptation coordinates control process more, concrete mode: transmit sufficient end motion track and gait parameter to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model based on the bionical legged type robot control of Matlab/Simulink model, after Matlab/SimMechanics emulation, joint motions track and gait data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, based on the bionical legged type robot control of Matlab/Simulink model, motion gait and attitude data are sent to the bionical legged type robot kinetic model based on ADAMS, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model, at the same time, based on the bionical legged type robot control of Matlab/Simulink model, robot motion's gait data bag and coordination control command parameter are sent to bionical legged type robot experimental prototype, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data are aggregated into based on the bionical legged type robot control of Matlab/Simulink model, integrate Dynamic Co-Simulation output data and real time kinematics feedback data, both data are carried out complementation and self study regulation and control, complete under the condition of actual robot model machine disappearance part sensory information, realized robot self adaptation by emulated data and coordinate to control more.
Described based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described based on the bionical legged type robot control of Matlab/Simulink model buildings mode, concrete mode: first arrange as internal system simulation algorithm type in the bionical legged type robot analogue system of Matlab/Simulink, cycle, step-length, the parameter of error limit, then according to realizing the required bionical legged type robot motion demonstrating module of optionally setting up based on Matlab/Simulink of robot debugging, set up the bionical legged type robot motion gait control module based on Matlab/Simulink, set up the bionical legged type robot motion self-learning module based on Matlab/Simulink and set up the bionical legged type robot coordinating control module based on Matlab/Simulink, finally connect the bionical legged type robot analogue system of Matlab/Simulink interface, carry out data exchange, coordination data processing.
Described based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model buildings mode, concrete mode: first create the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics environment, initialization system environmental parameters, then in Matlab/SimMechanics, set up the number of degrees of freedom and the direction of bionical legged type robot system world coordinate system and each leg movable joint, setting comprises quality, inertia, each leg rod member rigid body parameter of length, joint control type, joint sensors output type, finally control requirement according to robot motion, draw the input and output interface in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model, preparation is accepted joint input data and is sent joint output data, carry out data exchange, realize kinematics calculation function.
Described based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described builds mode based on the bionical legged type robot kinetic model of ADAMS, concrete mode: first create the bionical legged type robot dynamics simulation of ADAMS environment, initialization system environmental parameters, then in ADAMS, import ground rigid body, the each leg rod member of bionical legged type robot rigid body, set rigid body physical dimension, material type or density or mass parameter, then in ADAMS, set joint freedom degrees number and joint type between each rigid body, and in ADAMS, set each foot and hold crash type between the rigid body of ground, frictional constraint and correlation parameter are set, finally according to actual requirement, set the input and output interface in the bionical legged type robot Kinematics Simulation of ADAMS model, joint input data are accepted in preparation, send joint output data and foot end impact force data, carry out data exchange, realize dynam calculation function.
Described based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described bionical legged type robot experimental prototype operating process, concrete mode: first bionical legged type robot experimental prototype carries out initialization, setting comprises system initialization parameter, follow bionical legged type robot experimental prototype wireless receiving upper strata task control command signal and gait data, then carry out bionical legged type robot experimental prototype exercise testing, simultaneously real-time by the attitude sensing of bionical legged type robot experimental prototype self perception in experimentation, joint angles, cireular frequency, the infrared distance measurement of foot end force information and the identification of bionical legged type robot experimental prototype environment, Machine Vision Recognition distribution of obstacles, state of ground information wireless sends to computer controlled platform.Principle of work of the present invention:
Based on Matlab/SimMechanics, in bionical legged type robot kinematic calculation advantage, analysis robot gait generates, and the data that obtain are as robot motion's reference frame, based on ADAMS in bionical legged type robot dynamics calculation advantage, the dynamics of analysis robot under movement environment, relevant data are as bionical legged type robot dynamic stabilization judging basis, bionical legged type robot software associative simulation environment by computer controlled platform is set up, realize data exchange and complementation, by wireless transmission and the receiving device of bionical legged type robot experimental prototype, carry out half debugging in kind with experimental prototype, wherein send the gait data after simulating, verifying and coordinate control command by computer controlled platform, experimental prototype carries out exercise testing, sensor information on relevant model machine feeds back to computer controlled platform by wireless base station apparatus, the various debug functioies that realized motion gait by corresponding emulation module (comprising: motion demonstrating, gait generates, self study and many coordination controls etc.).
The present invention compared with prior art has the following advantages:
1, the emulation advantage separately that the present invention can be based on Matlab/SimMechanics and ADAMS, integrated associative simulation application, have that the division of labor is clear and definite, clear thinking, truly feasible feature, contribute to theoretical investigation in early stage, for later stage prototype experiment debugging provides reference data comparatively accurately.
2, cost of the present invention is low, practical function is many, substantially covers traditional bionical legged type robot control commissioning requirements, has certain general applicability.
3, the present invention provides a kind of new departure to bionical legged type robot control debugging, has improved bionical legged type robot technical research efficiency, and the Simulation Application scope of having widened is provided.
Brief description of the drawings
Fig. 1 is a kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind of the present invention.
Fig. 2 is based on the bionical legged type robot control of Matlab/Simulink model buildings mode diagram of circuit in the present invention.
Fig. 3 is based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model buildings mode diagram of circuit in the present invention.
Fig. 4 builds mode diagram of circuit based on the bionical legged type robot kinetic model of ADAMS in the present invention.
Fig. 5 is bionical legged type robot experimental prototype operational flowchart in the present invention.
Above-mentioned number in the figure title: A, based on the bionical legged type robot control of Matlab/Simulink model; B, based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model; C, based on the bionical legged type robot kinetic model of ADAMS; D, bionical legged type robot experimental prototype; 1, sufficient end motion track and gait parameter; 2, joint motions track and gait data; 3, Dynamic Co-Simulation output data; 4, motion gait and attitude data; 5, robot environment's perception and real time kinematics feedback data; 6, robot motion's gait data bag and coordination control command parameter.
In figure, A and B component part belong to based on the bionical legged type robot software emulation of Matlab environment, and A, B and C component part belong to the bionical legged type robot software associative simulation environment based on computer controlled platform.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
In conjunction with Fig. 1,2,3, the present embodiment is a kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind, comprising: based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B, based on the bionical legged type robot kinetic model of ADAMS C, bionical legged type robot experimental prototype D, sufficient end motion track and gait parameter 1, joint motions track and gait data 2; Dynamic Co-Simulation output data 3, motion gait and attitude data 4, robot environment's perception and real time kinematics feedback data 5, robot motion's gait data bag and coordination control command parameter 6.
Wherein based on Matlab/Simulink bionical legged type robot control model and be sufficient end motion track and gait parameter and joint motions track and gait data based on inputoutput data between the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model; Based on Matlab/Simulink bionical legged type robot control model and be Dynamic Co-Simulation output data and motion gait and attitude data based on inputoutput data between the bionical legged type robot kinetic model of ADAMS; Be robot environment's perception and real time kinematics feedback data and robot motion's gait data bag and coordinate control command parameter based on inputoutput data between Matlab/Simulink bionical legged type robot control model and bionical legged type robot experimental prototype.
Wherein based on the bionical legged type robot control of Matlab/Simulink model with formed based on the bionical legged type robot software emulation of Matlab environment based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model; Based on the bionical legged type robot control of Matlab/Simulink model, formed the bionical legged type robot software associative simulation environment based on computer controlled platform based on Matlab/SimMechanics bionical legged type robot Kinematics Simulation model with based on the bionical legged type robot kinetic model of ADAMS.
A bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, wherein based on the bionical legged type robot control of Matlab/Simulink model A and be sufficient end motion track and gait parameter 1 and joint motions track and gait data 2 based on inputoutput data between the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B; Based on the bionical legged type robot control of Matlab/Simulink model A and be Dynamic Co-Simulation output data 3 and motion gait and attitude data 4 based on inputoutput data between the bionical legged type robot kinetic model of ADAMS C; Be robot environment's perception and real time kinematics feedback data 5 and robot motion's gait data bag and coordinate control command parameter 6 based on inputoutput data between the bionical legged type robot control of Matlab/Simulink model A and bionical legged type robot experimental prototype D.
A bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, wherein based on the bionical legged type robot control of Matlab/Simulink model A with formed based on the bionical legged type robot software emulation of Matlab environment based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B; Based on the bionical legged type robot control of Matlab/Simulink model A, formed the bionical legged type robot software associative simulation environment based on computer controlled platform based on Matlab/SimMechanics bionical legged type robot Kinematics Simulation Model B with based on the bionical legged type robot kinetic model of ADAMS C.
A bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, wherein robot environment's perception and real time kinematics feedback data 5 and robot motion's gait data bag and coordination control command parameter 6 are carried out wireless transmission and reception by wireless device (as equipment such as wireless serial device, wireless wifi).
As shown in Figure 2 based on the bionical legged type robot control of Matlab/Simulink model buildings mode diagram of circuit, first arrange (as internal system simulation algorithm type at the bionical legged type robot simulation system parameters of Matlab/Simulink, cycle, step-length, the setting parameters such as error limit), then according to realizing the required bionical legged type robot motion demonstrating module of optionally setting up based on Matlab/Simulink of robot debugging, set up the bionical legged type robot motion gait control module based on Matlab/Simulink, set up the bionical legged type robot motion self-learning module based on Matlab/Simulink and set up the bionical legged type robot coordinating control module based on Matlab/Simulink, finally connect the bionical legged type robot analogue system of Matlab/Simulink interface and (comprise data flow 1, 2, 3, 4, 5, 6 IO interface interconnection, carry out data exchange, coordination data processing).
As shown in Figure 3 based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model buildings mode diagram of circuit, first create the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics environment (comprising system environments setting parameter), then in Matlab/SimMechanics, set up bionical legged type robot system world coordinate system and (comprise pedestal 1, pedestal 2 etc.), each leg movable joint (comprises joint freedom degrees number, direction etc.), each leg rod member rigid body parameter (comprises quality, inertia, length etc.), joint control type, joint sensors output type etc., finally control requirement according to robot motion, (joint input data are accepted in preparation to draw input and output interface in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model, send joint output data, carry out data exchange, realize kinematics calculation function).
Build mode diagram of circuit based on the bionical legged type robot kinetic model of ADAMS as shown in Figure 4, first create the bionical legged type robot dynamics simulation of ADAMS environment (comprising system environments setting parameter), then in ADAMS, import ground rigid body, the each leg rod member of bionical legged type robot rigid bodies etc. (are set rigid body physical dimension, the parameter such as material type or density or quality), then in ADAMS, set joint freedom degrees number and joint type between each rigid body, and in ADAMS, set each foot and hold crash type between the rigid body of ground, frictional constraint and correlation parameter are set, finally according to actual requirement, (joint input data are accepted in preparation to input and output interface in the bionical legged type robot Kinematics Simulation of setting ADAMS model, send the data such as joint output data and foot end impact force, carry out data exchange, realize dynam calculation function).
Bionical legged type robot experimental prototype operational flowchart as shown in Figure 5, first bionical legged type robot experimental prototype carries out initialization (comprising system parameter initializing set etc.), follow bionical legged type robot experimental prototype wireless receiving upper control command signal and gait data and (comprise gait data, assignment instructions etc.), then carry out bionical legged type robot experimental prototype exercise testing, simultaneously in experimentation in real time by bionical legged type robot experimental prototype self perception information wireless transmission (as gyroscope, accelerometer, the attitude sensors such as magnetometer, joint angles and angular velocity sensor, foot end power sensor) and bionical legged type robot experimental prototype environment identifying information wireless transmission (ultrasonic or infrared distance measurement, Machine Vision Recognition distribution of obstacles, state of ground etc.) to computer controlled platform.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (D → 5 → A → 1 → B → 2 → A), can realize the state of kinematic motion Real Time Kinematic demonstration of robot experimental prototype.Concrete mode: bionical legged type robot experimental prototype D wireless transmission interface machine people's environment sensing and real time kinematics feedback data 5 are to based in the bionical legged type robot control of Matlab/Simulink model A, transmit sufficient end motion track and gait parameter 1 to based in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, and in Matlab/SimMechanics, there is relevant kinematics of mechanism flash demo function, the kinestate of display device people experimental prototype in real time, relevant joint motions track and gait data 2 are transferred to based in the bionical legged type robot control of Matlab/Simulink model A, carrying out kinematics data gathers and preserves.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (D → 5 → A → 4 → C → 3 → A), can realize the demonstration of robot experimental prototype state of kinematic motion Real-time dynamics.Concrete mode: bionical legged type robot experimental prototype D wireless transmission interface machine people's environment sensing and real time kinematics feedback data 5 are to based in the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A transmitting moving gait and attitude data 4 to based in the bionical legged type robot kinetic model of ADAMS C, and in ADAMS, there is relevant mechanism dynamic flash demo function, the dynamics data of display device people experimental prototype in real time, relevant Dynamic Co-Simulation output data 3 are transferred to based in the bionical legged type robot control of Matlab/Simulink model A, carrying out dynamics data gathers and preserves.
A bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (A → 1 → B → 2 → A → 4 → C → 3 → A), can realize the pure virtual Union Movement emulation of robot.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, motion gait and attitude data 4 are sent to based on the bionical legged type robot kinetic model of ADAMS C, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data 3 to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, complete the Union Movement emulation of Matlab/SimMechanics and ADAMS.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (A → 1 → B → 2 → A → 6 → D), can realize the real time kinematics control of robot gait generation, robot experimental prototype.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, robot motion's gait data bag and coordination control command parameter 6 are wirelessly sent to bionical legged type robot experimental prototype D, complete by data real time control machine device people experimental prototype after the generation of Matlab/SimMechanics gait and moved.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (A → 1 → B → 2 → A → 4 → C → 3 → A → 6 → D), can realize the real time kinematics control of the robot experimental prototype after robot gait generation, simulating, verifying.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, motion gait and attitude data 4 are sent to based on the bionical legged type robot kinetic model of ADAMS C, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data 3 to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, complete the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS, again robot motion's gait data bag and coordination control command parameter 6 are wirelessly sent to bionical legged type robot experimental prototype D, complete by data real time control machine device people experimental prototype after the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS and moved, realize more accurately the motion control of robot experimental prototype.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (A → 1 → B → 2 → A → 4 → C → 3 → A → A → 1 → B → 2 → A → 4 → C → 3 → A), can realize Robot Virtual associative simulation self study adjustment.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, motion gait and attitude data 4 are sent to based on the bionical legged type robot kinetic model of ADAMS C, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data 3 to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, complete the Union Movement emulation of Matlab/SimMechanics and ADAMS, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model A, carry out continuous circulation emulation, finally realize virtual associative simulation self study adjustment, for data-optimized and adaptive control provide foundation.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence (A → 1 → B → 2 → A → 6 → D → 5 → A → A → 1 → B → 2 → A → 6 → D → 5 → A), can realize robot HWIL simulation self study adjustment.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, robot motion's gait data bag and coordination control command parameter 6 are sent to bionical legged type robot experimental prototype D, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data 5 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, complete the Union Movement emulation of Matlab/SimMechanics and half full-scale investigation model machine, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model A, carry out continuous circulation HWIL simulation, finally realize the self study adjustment under half associative simulation in kind, for data-optimized and adaptive control provide foundation.
A kind of bionical legged type robot comprehensive simulating strategy block diagram based on Matlab, ADAMS and half associative simulation in kind as shown in Figure 1, as according to flow sequence ((A → 1 → B → 2 → A → 4 → C → 3)+(A → 6 → D → 5) → A → (A → 1 → B → 2 → A → 4 → C → 3)+(A → 6 → D → 5) → A), can realize robot self adaptation and coordinate to control more.Concrete mode: transmit sufficient end motion track and gait parameter 1 to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics Model B based on the bionical legged type robot control of Matlab/Simulink model A, after Matlab/SimMechanics emulation, joint motions track and gait data 2 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A, based on the bionical legged type robot control of Matlab/Simulink model A, motion gait and attitude data 4 are sent to based on the bionical legged type robot kinetic model of ADAMS C, after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data 3 to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model A.At the same time, based on the bionical legged type robot control of Matlab/Simulink model A, robot motion's gait data bag and coordination control command parameter 6 are sent to bionical legged type robot experimental prototype D, after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data 5 are aggregated into based on the bionical legged type robot control of Matlab/Simulink model A.Integrate Dynamic Co-Simulation output data 3 and real time kinematics feedback data 5, both data are carried out complementation and self study regulation and control, complete under the condition of actual robot model machine disappearance part sensory information, realized robot self adaptation by emulated data and coordinate to control more.
Claims (5)
1. the bionical legged type robot comprehensive simulating strategy based on Matlab, ADAMS and half associative simulation in kind, is characterized in that:
System for use in carrying comprises: based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B), based on the bionical legged type robot kinetic model of ADAMS (C), bionical legged type robot experimental prototype (D);
Described strategy comprises the state of kinematic motion Real Time Kinematic presentation process of robot experimental prototype, concrete mode: bionical legged type robot experimental prototype (D) wireless transmission interface machine people's environment sensing and real time kinematics feedback data (5) arrive based in the bionical legged type robot control of Matlab/Simulink model (A), transmit sufficient end motion track and gait parameter (1) to based in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), and in Matlab/SimMechanics, there is relevant kinematics of mechanism flash demo function, the kinestate of display device people experimental prototype in real time, relevant joint motions track and gait data (2) are transferred to based in the bionical legged type robot control of Matlab/Simulink model (A), carrying out kinematics data gathers and preserves,
Described strategy comprises robot experimental prototype state of kinematic motion Real-time dynamics presentation process, concrete mode: bionical legged type robot experimental prototype (D) wireless transmission interface machine people's environment sensing and real time kinematics feedback data (5) arrive based in the bionical legged type robot control of Matlab/Simulink model (A), be transferred to based in the bionical legged type robot kinetic model of ADAMS (C) based on the bionical legged type robot control of Matlab/Simulink model (A) transmitting moving gait and attitude data (4), and in ADAMS, there is relevant mechanism dynamic flash demo function, the dynamics data of display device people experimental prototype in real time, relevant Dynamic Co-Simulation output data (3) arrive based in the bionical legged type robot control of Matlab/Simulink model (A), carrying out dynamics data gathers and preserves,
Described strategy comprises the pure virtual Union Movement simulation process of robot, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), motion gait and attitude data (4) are sent to based on the bionical legged type robot kinetic model of ADAMS (C), after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data (3) to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), complete the Union Movement emulation of Matlab/SimMechanics and ADAMS,
Described strategy comprises that robot gait generates, the real time kinematics control process of robot experimental prototype, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), robot motion's gait data bag and coordination control command parameter (6) are wirelessly sent to bionical legged type robot experimental prototype (D), complete by data real time control machine device people experimental prototype after the generation of Matlab/SimMechanics gait and moved,
Described strategy comprises that robot gait generates, the real time kinematics control process of the robot experimental prototype after simulating, verifying, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), motion gait and attitude data (4) are sent to based on the bionical legged type robot kinetic model of ADAMS (C), after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data (3) to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), complete the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS, again robot motion's gait data bag and coordination control command parameter (6) are wirelessly sent to bionical legged type robot experimental prototype (D), complete by data real time control machine device people experimental prototype after the Union Movement simulating, verifying of the generation of Matlab/SimMechanics gait and ADAMS and moved, realize more accurately the motion control of robot experimental prototype,
Described strategy comprises Robot Virtual associative simulation self study adjustment process, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), motion gait and attitude data (4) are sent to based on the bionical legged type robot kinetic model of ADAMS (C), after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data (3) to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), complete the Union Movement emulation of Matlab/SimMechanics and ADAMS, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model (A), carry out continuous circulation emulation, finally realize virtual associative simulation self study adjustment, for data-optimized and adaptive control provide foundation,
Described strategy comprises robot HWIL simulation self study adjustment process, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), robot motion's gait data bag and coordination control command parameter (6) are sent to bionical legged type robot experimental prototype (D), after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data (5) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), complete the Union Movement emulation of Matlab/SimMechanics and half full-scale investigation model machine, by adjusting parameter based on self-learning module in the bionical legged type robot control of Matlab/Simulink model (A), carry out continuous circulation HWIL simulation, finally realize the self study adjustment under half associative simulation in kind, for data-optimized and adaptive control provide foundation,
Described strategy comprises that robot self adaptation coordinates control process more, concrete mode: transmit sufficient end motion track and gait parameter (1) to based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B) based on the bionical legged type robot control of Matlab/Simulink model (A), after Matlab/SimMechanics emulation, joint motions track and gait data (2) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), based on the bionical legged type robot control of Matlab/Simulink model (A), motion gait and attitude data (4) are sent to based on the bionical legged type robot kinetic model of ADAMS (C), after ADAMS dynamics simulation, Dynamic Co-Simulation is exported to data (3) to be aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), at the same time, based on the bionical legged type robot control of Matlab/Simulink model (A), robot motion's gait data bag and coordination control command parameter (6) are sent to bionical legged type robot experimental prototype (D), after robot experimental prototype exercise testing, robot environment's perception and real time kinematics feedback data (5) are aggregated into based on the bionical legged type robot control of Matlab/Simulink model (A), integrate Dynamic Co-Simulation output data (3) and real time kinematics feedback data, both data are carried out complementation and self study regulation and control, complete under the condition of actual robot model machine disappearance part sensory information, realized robot self adaptation by emulated data and coordinate to control more.
2. according to claim 1 based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described builds mode based on the bionical legged type robot control of Matlab/Simulink model (A), concrete mode: first arrange as internal system simulation algorithm type in the bionical legged type robot analogue system of Matlab/Simulink, cycle, step-length, the parameter of error limit, then according to realizing the required bionical legged type robot motion demonstrating module of optionally setting up based on Matlab/Simulink of robot debugging, set up the bionical legged type robot motion gait control module based on Matlab/Simulink, set up the bionical legged type robot motion self-learning module based on Matlab/Simulink and set up the bionical legged type robot coordinating control module based on Matlab/Simulink, finally connect the bionical legged type robot analogue system of Matlab/Simulink interface, carry out data exchange, coordination data processing.
3. according to claim 1 based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described builds mode based on the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model (B), concrete mode: first create the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics environment, initialization system environmental parameters, then in Matlab/SimMechanics, set up the number of degrees of freedom and the direction of bionical legged type robot system world coordinate system and each leg movable joint, setting comprises quality, inertia, each leg rod member rigid body parameter of length, joint control type, joint sensors output type, finally control requirement according to robot motion, draw the input and output interface in the bionical legged type robot Kinematics Simulation of Matlab/SimMechanics model, preparation is accepted joint input data and is sent joint output data, carry out data exchange, realize kinematics calculation function.
4. according to claim 1 based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described builds mode based on the bionical legged type robot kinetic model of ADAMS (C), concrete mode: first create the bionical legged type robot dynamics simulation of ADAMS environment, initialization system environmental parameters, then in ADAMS, import ground rigid body, the each leg rod member of bionical legged type robot rigid body, set rigid body physical dimension, material type or density or mass parameter, then in ADAMS, set joint freedom degrees number and joint type between each rigid body, and in ADAMS, set each foot and hold crash type between the rigid body of ground, frictional constraint and correlation parameter are set, finally according to actual requirement, set the input and output interface in the bionical legged type robot Kinematics Simulation of ADAMS model, joint input data are accepted in preparation, send joint output data and foot end impact force data, carry out data exchange, realize dynam calculation function.
5. according to claim 1 based on Matlab, the bionical legged type robot comprehensive simulating strategy of ADAMS and half associative simulation in kind, it is characterized in that: described bionical legged type robot experimental prototype (D) operating process, concrete mode: first bionical legged type robot experimental prototype (D) carries out initialization, setting comprises system initialization parameter, follow bionical legged type robot experimental prototype (D) wireless receiving upper strata task control command signal and gait data, then carry out bionical legged type robot experimental prototype (D) exercise testing, simultaneously in experimentation in real time by the attitude sensing of bionical legged type robot experimental prototype (D) self perception, joint angles, cireular frequency, the infrared distance measurement of foot end force information and the identification of bionical legged type robot experimental prototype (D) environment, Machine Vision Recognition distribution of obstacles, state of ground information wireless sends to computer controlled platform.
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| CN114932961A (en) * | 2022-06-15 | 2022-08-23 | 中电海康集团有限公司 | Four-footed robot motion control system |
| CN114932961B (en) * | 2022-06-15 | 2023-10-10 | 中电海康集团有限公司 | Motion control system of four-foot robot |
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