CN112230606A - Method for controlling NAO robot to move based on MATLAB application program interface - Google Patents
Method for controlling NAO robot to move based on MATLAB application program interface Download PDFInfo
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- CN112230606A CN112230606A CN202011177818.2A CN202011177818A CN112230606A CN 112230606 A CN112230606 A CN 112230606A CN 202011177818 A CN202011177818 A CN 202011177818A CN 112230606 A CN112230606 A CN 112230606A
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- nao robot
- matlab
- nao
- robot
- controlling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32026—Order code follows article through all operations
Abstract
The invention discloses a method for controlling the motion of an NAO robot based on an MATLAB application program interface, which belongs to the technical field of intelligent robots and comprises the following steps: firstly, inputting a digital label instruction at an MATLAB terminal; a client established on MATLAB based on TCP/IP protocol is connected with the IP address and port number of the NAO robot, and then the instruction is sent; a server is built on control software of the NAO robot, and instructions are received through a TCP/IP protocol; after receiving the instruction, each digital label instruction corresponds to one action of the NAO robot respectively, and the NAO robot can be controlled to execute the action of the corresponding label by operating NAO robot control software; and the NAO robot receives the corresponding digital label instruction to complete the corresponding action. The invention provides a method for controlling the NAO robot to move based on an MATLAB application program by controlling the NAO robot to move based on the MATLAB application program, and eliminates the obstacles encountered by MATLAB enthusiasts when playing the NAO robot.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method for controlling the motion of an NAO robot based on an MATLAB application program interface.
Background
The NAO is a robot widely used in academia, and in order to implement interaction of different scenes and functions, the NAO needs to have corresponding Application Programming Interfaces (APIs) with different Programming languages. MATLAB is a piece of software with powerful functions, but an API method for controlling the NAO based on an MATLAB application program interface does not exist in the prior art, so that an MATLAB enthusiast is hindered when playing with the NAO robot, and an API communication interface for controlling the NAO robot based on the MATLAB is designed.
To this end, we propose a method to control the NAO robot motion based on MATLAB application program interface to solve the above problem.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a method for controlling the motion of an NAO robot based on an MATLAB application program interface, which briefly describes the technical effects achieved below.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling the motion of an NAO robot based on an MATLAB application program interface comprises the following steps:
firstly, inputting a digital label instruction at an MATLAB end;
secondly, connecting a client established on MATLAB based on a TCP/IP protocol with an IP address and a port number of the NAO robot, and then sending an instruction;
step three, a server is established on control software of the NAO robot, and instructions are received through a TCP/IP protocol;
after receiving the instruction, each digital label instruction corresponds to one action of the NAO robot, and the NAO robot can be controlled to execute the action corresponding to the label by operating NAO robot control software;
and step five, the NAO robot receives the corresponding digital label instruction to complete the corresponding action.
Further, data transmitted based on the TCP/IP protocol has the advantages of no error, no loss, no duplication, and in-order arrival.
Further, the TCP protocol may be replaced with one of a UDP protocol and an HTTP protocol.
In the invention, an API interface is established between the MATLAB and the NAO, the MATLAB is used for controlling the NAO robot through the butt joint of the MATLAB and the NAO robot, the transmission of real-time instructions can be carried out, the butt joint between two operating systems is essentially realized, and the NAO is essentially a robot with a Linux operating system, so that the invention is based on a TCP/IP protocol, a client is established on the MATLAB, a corresponding server is established on control platform software of the NAO robot, and the transmission of the real-time instructions can be realized through connecting an IP address and a port number of the robot.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a method for controlling the NAO robot to move based on the MATLAB application program, which does not exist in the prior art and eliminates the obstacle encountered by MATLAB enthusiasts when playing the NAO robot;
2. in order to ensure the real-time performance of transmission instructions and the stability of data, the invention adopts a TCP/IP protocol, builds a client at an MATLAB end, builds a server on the control platform software of the NAO robot, and can realize the real-time control of the NAO robot by connecting the IP address and the port number of the robot, thereby solving the problem that the prior art does not have a method for controlling the movement of the NAO robot based on an MATLAB application program.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a flow chart of a method for controlling the motion of an NAO robot based on an MATLAB application program interface according to the present invention;
FIG. 2 is a Choregraphe script editing code diagram in an embodiment of a method for controlling the motion of an NAO robot based on an MATLAB application program interface;
fig. 3 is a diagram of 6 action programs of the NAO robot in the method for controlling the motion of the NAO robot based on the MATLAB application program interface.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-3, a method for controlling the motion of an NAO robot based on a MATLAB application program interface, the control method comprising the steps of:
firstly, inputting a digital label instruction at an MATLAB end;
secondly, connecting a client established on MATLAB based on a TCP/IP protocol with an IP address and a port number of the NAO robot, and then sending an instruction;
step three, a server is established on control software of the NAO robot, and instructions are received through a TCP/IP protocol;
after receiving the instruction, each digital label instruction corresponds to one action of the NAO robot, and the NAO robot can be controlled to execute the action corresponding to the label by operating NAO robot control software;
and step five, the NAO robot receives the corresponding digital label instruction to complete the corresponding action.
More specifically, the digital tag instructions may be: 1. 2, …, and 6 correspond to 6 different motions of the robot, for example, forward, backward, left, right, left turn, and right turn.
The digital instructions herein are not limited to the digital label instructions set forth above.
Wherein, the TCP protocol can be replaced by one of UDP protocol or HTTP protocol.
When the TCP protocol is changed into the UDP protocol, other technologies and processes are not changed.
The working principle and the using process of the invention are as follows:
in the invention, an API interface is established between the MATLAB and the NAO, the MATLAB is used for controlling the NAO robot through the butt joint of the MATLAB and the NAO robot, the transmission of real-time instructions can be carried out, the butt joint between two operating systems is essentially realized, and the NAO is essentially a robot with a Linux operating system, so that the invention is based on a TCP/IP protocol, a client is established on the MATLAB, a corresponding server is established on control platform software (chord) of the NAO robot, and the transmission of the real-time instructions can be realized by connecting an IP address and a port number of the robot.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (2)
1. A method for controlling the motion of an NAO robot based on an MATLAB application program interface is characterized by comprising the following steps:
firstly, inputting a digital label instruction at an MATLAB end;
secondly, connecting a client established on MATLAB based on a TCP/IP protocol with an IP address and a port number of the NAO robot, and then sending an instruction;
step three, a server is established on control software of the NAO robot, and instructions are received through a TCP/IP protocol;
after receiving the instruction, each digital label instruction corresponds to one action of the NAO robot, and the NAO robot can be controlled to execute the action corresponding to the label by operating NAO robot control software;
and step five, the NAO robot receives the corresponding digital label instruction to complete the corresponding action.
2. The method for controlling the motion of an NAO robot based on a MATLAB application program interface as claimed in claim 1, wherein the TCP protocol can be replaced by one of UDP protocol and HTTP protocol.
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| CN202011177818.2A CN112230606A (en) | 2020-10-29 | 2020-10-29 | Method for controlling NAO robot to move based on MATLAB application program interface |
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| CN202011177818.2A CN112230606A (en) | 2020-10-29 | 2020-10-29 | Method for controlling NAO robot to move based on MATLAB application program interface |
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Citations (6)
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| KR20120118723A (en) * | 2011-04-19 | 2012-10-29 | 주식회사 신호시스템 | Simulation method of climbing hydraulic robot and construction factory |
| CN107498562A (en) * | 2017-04-21 | 2017-12-22 | 浙江工业大学 | Sixdegree-of-freedom simulation kinetic model discrimination method |
| CN108416268A (en) * | 2018-02-02 | 2018-08-17 | 华侨大学 | A kind of action identification method based on dual robot Visual Communication |
| CN108958249A (en) * | 2018-07-06 | 2018-12-07 | 东南大学 | A kind of ground robot control system and control method considering Unknown control direction |
| CN109598040A (en) * | 2018-11-22 | 2019-04-09 | 浙江工业大学 | The associative simulation interface method that NS3 and MATLAB based on Transmission Control Protocol are integrated |
| CN111546345A (en) * | 2020-05-26 | 2020-08-18 | 广州纳丽生物科技有限公司 | Skin material mechanical property measuring method based on contact dynamics model |
-
2020
- 2020-10-29 CN CN202011177818.2A patent/CN112230606A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120118723A (en) * | 2011-04-19 | 2012-10-29 | 주식회사 신호시스템 | Simulation method of climbing hydraulic robot and construction factory |
| CN107498562A (en) * | 2017-04-21 | 2017-12-22 | 浙江工业大学 | Sixdegree-of-freedom simulation kinetic model discrimination method |
| CN108416268A (en) * | 2018-02-02 | 2018-08-17 | 华侨大学 | A kind of action identification method based on dual robot Visual Communication |
| CN108958249A (en) * | 2018-07-06 | 2018-12-07 | 东南大学 | A kind of ground robot control system and control method considering Unknown control direction |
| CN109598040A (en) * | 2018-11-22 | 2019-04-09 | 浙江工业大学 | The associative simulation interface method that NS3 and MATLAB based on Transmission Control Protocol are integrated |
| CN111546345A (en) * | 2020-05-26 | 2020-08-18 | 广州纳丽生物科技有限公司 | Skin material mechanical property measuring method based on contact dynamics model |
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